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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。
Aiming at the shortcomings of the present optical surgical navigator, such as not strong anti-interference, complex system and non-multi-target tracking, a scheme of surgical navigator based on manual marker detection is proposed. Based on the Bumblebee2 binocular vision system, an ARTag marker detection algorithm is proposed. Based on the edge detection, through the line detection, mark reconstruction, mark decoding multi-step to achieve accurate and rapid detection of the mark. Further, based on binocular stereo vision, the surgical tool is positioned in space. Since the ARTag mark contains coding features, multiple artificial marks can be identified, decoded and matched at the same time, so that real-time tracking of multiple surgical tools can be realized. The experimental results show that the proposed algorithm has higher detection accuracy and higher robustness to different lighting conditions. The proposed navigation solution has the advantages of fast, stable, economical and real-time multi-target tracking, and has the advantages of real-time Broad prospects.