| Research on the Algorithm of Target Tracking in Robot Assisted SurgeryTarget tracking in robot-assisted surgery is of great significance for improving the successrate of surgery, reducing surgical trauma, and enhancing the doctor comfort. The existingalgorithms of target tracking were powered by a single algorithm to track the target, a singlealgorithm of target tracking is difficult to balance the real-time and accuracy of system.In order to make robot-assisted surgery can be fast, accurate and effective tracking thesurgical field. This paper researched on the algorithm of target tracking in robot-assistedsurgery system. This paper designed a dual system of target tracking that combined the targettracking of region with the target tracking of3D models. The following work has beencompleted:This paper presented a calibration method of multi-plane to calibrate the vector model ofthe projector. The calibration accuracy is better than the ordinary model of projector andmeet the requirements of surgical precision. This paper presented a boundary extractionmethod based on Hough transform to extract the boundary of the target ball tracking, theexperiments showed that this method extracted boundary that is clear and continuous. Thispaper is on the basis of the principle of the rigid spatial structure invariance and binocularstereo vision to calculate the3D model of the target to achieve the target tracking inthree-dimensional space, the experiments showed that the3D model obtained in this papercan accurately track the target in three dimensional space. This paper is in-depthexperimental study on the target tracking in robot-assisted surgery systems, the experimentalresults showed that the tracking position error is less than0.7mm in this system, it meet therequirements of tracking accuracy in robot-assisted surgery.This study provided theoreticalbasis of robot-assisted surgery system. |
