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《DEVELOPMENT OF A SURGICAL NAVIGATION ROBOTUSING IMAGE SERVO TRACKING TECHNIQUES 手术导航机器人的研制 利用图像伺服跟踪技术》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。
1、120Vol.16No.3June2004DEVELOPMENTOFASURGICALNAVIGATIONROBOTUSINGIMAGESERVOTRACKINGTECHNIQUESCHUNG-HSIENKUO,YU-LINTSAI,FANG-GHUNHUANG,MING-YIHLEEDepartmentofMechanicalEngineering,ChangGungUniversity,Tao-Yuan,TaiwanABSTRACTThispaperpresentsthedevelopmentofsurgicalnavigationrobot,whichisdesignedbased
2、ontheimageservotrackingtechnique.Thesurgicalnavigationrobotplaysanimportantroletothecomputeraidedsurgery(CAS),sinceitprovidesthepatient'sspacecoordinateduringsurgicalnavigationstageinreal-time.Especially,theproposedactiveimageservotrackingbasedsurgicalnavigationrobotcantrackthesurgicalmarkerthati
3、smountedonthepatient'shardtissueofthesurgicalposition,sothatthenavigationspacecanbeautomaticallyextended.Theproposedsurgicalnavigationrobotsystemconsistsofthein-labdesigneddual-axiseye-in-handrobot(EIHR),digitalsignalprocessor(DSP)basedEIHRmotioncontroller,imageservotrackingandpositioningsoftware
4、.TheEIHRrobotiscomposedofthedual-axisrobotmechanicsandtwoCCDcameras,whichactsasthestereoscopicimagecaptureplatform.TheDSPbasedEIHRmotioncontrollerisdesignedtocontroltheEIHRrobotinadesiredvelocity,sothatthesurgicalmarkercanbedynamicallytracked.Theimageservotrackingandpositioningsoftwareisthekernel
5、ofthiswork,anditiscomposedofimagecaptureandrecognitionmodule,fuzzylogicbasedsurgicalmarkertrackingmoduleandsurgicalmarkerpositioningmodule.Theimagecaptureandrecognitionmoduleisdevelopedtoabstracttheimagefeaturesofthesurgicalmarker.Theintelligentfuzzylogicbasedsurgicalmarkertrackingmoduleiscapable
6、ofgeneratingrobot'scontrolcommandsothatthesurgicalmarkercanbetrackedwithinthedesiredtargetwindow.Inaddition,thesurgicalmarkerpositioningmoduleisusedtocalculatethesurgicalmarker'sspacecoordinatesintermsofthefeaturesofstereoscopicimagesandtherobot'sposture.Finally,theprototypehadbeenfinished,andthe
7、experimentresultsshowedthatproposedEIHRachieved1.7mmpositionerrorwithin500mmoperationrange.BiomedEngApplBasisComm,2004(June);16:120-132.Keywords:surgicalassistedrobot,eye-in-handrobot,stereoscopicsurgicalmarkerposition
