一种丝传动柔性手术器械的运动精度检测方法  

A Motion Accuracy Detection Method of a Tendon-Driven Flexible Surgical Instrument

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作  者:王树新[1,2] 郭立瑶 李旭莹 王成龙 张国凯[1,2] Wang Shuxin;Guo Liyao;Li Xuying;Wang Chenglong;Zhang Guokai(School of Mechanical Engineering,Tianjin University,Tianjin 300350,China;Key Laboratory for Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University,Tianjin 300350,China)

机构地区:[1]天津大学机械工程学院,天津300350 [2]天津大学机构理论与装备设计教育部重点实验室,天津300350

出  处:《天津大学学报:自然科学与工程技术版》2019年第5期449-458,共10页

基  金:国家自然科学基金资助项目(51475323);国家重点研发计划资助项目(2017YFC0110403).

摘  要:自然腔道手术是经过自然体腔进入人体进行诊断的一种新型手术模式,手术过程中使用的柔性微创手术器械的运动精度检测对术中操作质量具有重要意义.在复杂的自然体腔环境下,针对丝传动柔性手术器械存在末端控制不稳、腔内操作受限的问题,提出了一种非接触式运动精度检测方法.该方法以自然腔道手术器械为研究对象,基于光学成像原理及图像处理方法检测手术器械的位置信息,具有通用性和易操作性.在此基础上进行固定角度摆动的单目运动精度检测实验,发现获取目标的位置坐标具有分布趋势,因此在单目检测的基础上,增加光轴垂直布置的相机,改进了获取目标位置坐标的计算方法,搭建采用双摄像机的优化测量实验平台.与单目视觉检测相比,优化实验水平方向的平均精度从±1.19mm提升到±0.85mm,方差从0.04减小为0.02;竖直方向的平均精度从±1.28mm提升到±0.90mm,方差从0.07减小为0.04,说明测量结果彼此波动的程度减小,可以直观地对器械运动精度进行评价.最后,通过提出精度影响指标w验证了图像处理过程的稳定性;通过全局误差点分布箱图说明了改进后的算法对相对误差点的集中化,进一步说明此方法优化提取数据,对运动精度检测具有可行性.Natural orifice transluminal endoscopic surgery(NOTES)is a new surgical model that accesses the human body through natural orifices in order to perform diagnostic testing.The motion accuracy detection of flexible minimally invasive surgical instruments used during surgery is of great significance for improving the quality of surgeries.In the complex natural orifice environment,the tendon-driven flexible surgical instrument has problems of unstable end control and limited lumen operation.To resolve these problems,non-contact motion accuracy detection method was proposed in this work.The method took the natural orifice transluminal endoscopic surgical instrument as the research object.Based on the optical imaging principle and the image processing method,it detected the position information of the surgical instrument and showed versatility and the operability.On this basis,the monocular motion accuracy test of a fixed-angle swing was carried out.Results revealed that the position coordinates of the acquired target have a distribution trend.Therefore,on the basis of the monocular detection,adding the camera with the vertically arranged optical axis helped improve the calculation method of obtaining the target position coordinates.Furthermore,an optimized measurement experiment platform using the dual camera was constructed.Compared with themonocular vision detection,the average accuracy in the horizontal direction of the optimized experiment improved from±1.19 mm to±0.85 mm,the variance was reduced from 0.04 to 0.02,the average accuracy in the vertical direction increased from±1.28 mm to±0.90 mm,and the variance was reduced from 0.07 to 0.04.These results indicate that the fluctuations in measurement results were reduced,and the instrument motion accuracy can be evaluated intuitively.Finally,the stability of the image processing process was verified by proposing the accuracy impact indicator.The diagram of the global error point distribution box illustrates the centralization of the relative error points by the

关 键 词:柔性手术器械 图像处理 非接触 精度检测 

分 类 号:TP391[自动化与计算机技术—计算机应用技术;自动化与计算机技术—计算机科学与技术]

 

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