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山东大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (3): 63-68.doi: 10.6040/j.issn.1672-3961.0.2017.007

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基于人工标记的手术导航仪

马帅依凡,赵子健*   

  1. 山东大学控制科学与工程学院, 山东 济南 250061
  • 收稿日期:2017-01-05 出版日期:2017-06-20 发布日期:2017-01-05
  • 通讯作者: 赵子健(1979— ),男,山东济南人,副教授,硕导,主要研究方向为计算机视觉. E-mail:zhaozijian@sdu.edu.cn E-mail:347382685@qq.com
  • 作者简介:马帅依凡(1992— ),男,湖北荆门人,硕士研究生,主要研究方向为计算机视觉.E-mail:347382685@qq.com
  • 基金资助:
    高等学校博士学科点专项科研基金资助项目(No20130131120036,20130131110038);山东省优秀中青年科学家科研奖励基金资助项目(NoBS2013DX027);中国自然科学基金资助项目(61273277,81401543)

Surgical navigation system based on anartificialmarker

MA Shuaiyifan, ZHAO Zijian*   

  1. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China
  • Received:2017-01-05 Online:2017-06-20 Published:2017-01-05

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摘要： 针对目前光学手术导航仪抗干扰性不强、系统复杂、非多目标跟踪的不足,提出一种基于人工标记检测的手术导航仪实现方案。立足于Bumblebee2双目视觉系统,提出一种ARTag标记检测算法。基于边缘检测,通过线段检测、标记重构、标记解码多步来实现准确快速的标记检测。进一步基于双目立体视觉,对手术工具进行空间定位,且由于ARTag标记包含编码特征,可同时识别、解码、匹配多个人工标记,从而可实现多手术工具实时跟踪。试验结果表明:本研究提出算法检测精确度更高,对不同光照条件有更高鲁棒性,该导航仪解决方案具有快速、稳定、经济、能实时多目标跟踪的优点,在实际使用中具有广阔的前景。

关键词: 手术导航仪, 人工标记, 双目立体视觉, 空间定位, 多目标跟踪

Abstract: In order to solve the shortcomings of the current surgical navigation systems including weak anti-interference ability, complex system and non-multi-target tracking, an implement of surgical navigation system based on the detecting of artificial markers was proposed. Based on the Bumblebee2 binocular vision system, a detection algorithm based on edge detection was proposed to realize the precise and fast detection of ARTag artificial marks by line detection, marker construction and marker decode. Then with the Binocular stereo vision theory, accurately and reliably calculatedspatial location of the surgical instruments. Also, the system was able to tracking multiple targets in real-time because these artificial markers were set number sequences inside which enable the system to detect, decode and match multiple artificial marker targets. Experimental results showed that the proposed algorithm was of high accuracy and strong anti-interference ability, and the navigation system solution was fast, stable and economical, advantages multiple targets tracking at the same time, had broad prospects in actual use.

Key words: surgery navigator, binocular stereo vision, spatial localization, multitarget tracking, artificial marker

中图分类号: 

  • TP242
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