腹腔镜手术中三维器械重建与跟踪的混合方法

Ching-Chun Huang, Nguyen Hung, Atul Kumar
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引用次数: 4

摘要

三维器械重建和跟踪是微创手术的关键步骤。目前,已经提出了一些基于图像的方法。为了尽量减少对人体的伤害,这些系统只使用一个摄像头作为主要传感器来跟踪和重建仪器,因此失去了性能。为了提高系统的性能,我们在系统中新增了一个惯性测量单元(IMU),因为两个因素:首先,IMU可以安装在仪器中而不会额外损坏机身。第二,IMU可以为跟踪提供直接的运动信息。然而,由于陀螺和加速度的偏差,IMU的测量还远远不够完美。因此,我们建议折衷来自相机系统和IMU系统的信息来估计仪器的位置,速度和方向。最后,采用扩展卡尔曼滤波对不同源信息进行整合,补偿IMU的偏差,实现对仪器的统一跟踪。实验结果表明,与基于图像和imu的方法相比,该方法是有效的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Hybrid method for 3D instrument reconstruction and tracking in laparoscopy surgery
3D instrument reconstruction and tracking are critical steps in minimally invasive surgery. Nowadays, some image-based methods have been proposed. Trying to minimize the damage to human body, those systems only used one camera as the major sensor to track and reconstruct the instrument and hence lost performance. For performance improvement, an inertial measurement unit (IMU) was newly integrated in our proposed system owing to two factors: first, the IMU could be installed in the instrument without extra body damage. Second, the IMU could provide direct motion information for tracking. However, the IMU measurements are far from perfect due to the gyro and acceleration biases. Thus, we proposed to compromise the information from a camera system and an IMU system to estimate the position, velocity and direction of the instrument. An Extended Kalman Filter was finally adopted to integrate information from different sources, compensate the biases of IMU, and track the instrument in a unified framework. The results of the experiment show the effectiveness of our method compared with image-based and IMU-based methods.
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