| Reduce surgical trauma,decrease the pain of patients,is the highest concept of the surgeon.Inspired by the idea,minimally invasive surgery is presented,which is a humanized and more advanced surgical approach.Single-hole laparoscopic surgery(LESS)and natural endoscopicsurgery(NOTES)are so representative that have attracted more and more researchers' eyes.Compared to conventional laparoscopic surgery,there are several advantages in minimallyinvasive surgery,such as less wound,faster recovery,and it is more favorable for beauty,moreover,the surgeon's operation can become more harmonious and relaxed.However,the conventional imaging systems of laparoscopic surgery are almost all 2D,andit is difficult for two-dimensional display to identify the spatial location and the special anatomy structure,also,two-dimensional display cannot reflect the stereoscopic effects of the organs and tissues in the surgical visual as well as the depth of the surgical operation,as a result,the three-dimensional effect and luster of the operation are so not beautiful that it is so easy to lead to errors in surgery,causing dangerous consequences.Encouragingly,3D laparoscopy can hold sufficient stereoscopic visions,which have particular advantages for the correct understanding of microscopic anatomy,operation,and accurately grasping the current location and the distance between the organs,which will shorten the operation time and reduce surgical errors,to a great extent.Nevertheless,there are always some unpromising point cloud holes in the three-dimensional reconstruction of the visual operative field.For one thing,the emergence of these holes have affected the appearance of the model,for another thing,resulting in the lack of surface information of tissue structure,which influence the smooth and normal implementation of the operation seriously,and may even lead to something wrong on removing tissue and organ,stitching wound and other serious consequences.In order to solve the problem of hole in the surface of 3D cloud,the existing three-dimensional reconstruction hole problems and hole repair methods are studied,therefor,the hole repair strategy based on the difference of 3D surface cloud surface is proposed.The experimental results showed that the method of point cloud surface difference is not only able to repair simple holes effectively,but also can repair complex holes,as well as can ensure that the repair area and the original area Smooth connection,compared with the conventional methods.In the realization of the stereoscopic display and instrument tracking technique of the abdominal surgery robot based on binocular stereoscopic vision,the three-dimensional reconstruction point cloud model hole repair of the intraperitoneal visual field is a very important factor in the accuracy and safety of the surgical procedure.But on the other hand,how to accurately detect and control the end of the surgical instrument also has a very important practical significance.To achieve the tracking and control of the surgical instruments operated by a surgical robot,we need to carry out kinematic modeling of the robot arm,which involves the analysis and research of the kinematic geometric relationship of the robot arm relative to the fixed reference coordinate system.In particular,the position and attitude relationship between the robot arm end actuator position as well as attitude and the joint variable.In order to realize the accurate recognition and tracking of the surgical instruments of the surgical robots,according to the method of representation and modeling of the robot proposed by Denavit and Hartenberg,we use the Robotic Toolbox toolbox which provide a large number of robot-related generic functions to establish the mathematical model of laparoscope operational robot manipulator end,and achieve definite tracking and control of surgical instruments through the recognition and detection of color-based feature. |
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