一种丝传动柔性手术器械的运动精度检测方法
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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±1.19 mm提升到±0.85 mm,方差从0.04减小为0.02;竖直方向的平均精度从±1.28 mm提升到±0.90 mm,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 the monocular 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 optimized algorithm. The diagram further illustrates that this method optimizes the extracted data and is feasible for motion accuracy detection.
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 the monocular 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 optimized algorithm. The diagram further illustrates that this method optimizes the extracted data and is feasible for motion accuracy detection.
引文
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[14]吕家国,蒋晓瑜,张鹏炜,等.医疗机器人双目视觉硬件系统设计与实现[J].中国光学,2014,7(2):307-314.LüJiaguo,Jiang Xiaoyu,Zhang Pengwei,et al.Design and implementation of a binocular vision hardware system for medical robots[J].China Optics,2014,7(2):307-314(in Chinese).
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[16]张国军,胡剑.机电设备装调训练与考级:机械分册[M].北京:北京理工大学出版社,2012.Zhang Guojun,Hu Jian.Mechanical and Electrical Equipment Installation Training and Examination:Mechanical Parts[M].Beijing:Beijing Institute of Technology Press,2012(in Chinese).
[17]中国机械工业联合会.GB/T 17421.2-2016机床检验通则第二部分:数控轴线的定位精度和重复定位精度的确定[S].北京:中国标准出版社,2000.China Association of Machinery Industry.GB/T 17421.2-2016 Test Code for Machine Tools-Part 2:Determination of Accuracy and Repeatability Position Numerically Controlled Axes[S].Beijing:China Standard Press,2000(in Chinese).
[2]Cheng D C,Martin J,Lal A,et al.Minimally invasive versus conventional open mitral valve surgery:A metaanalysis and systematic review[J].Technology and Techniques in Cardiothoracic and Vascular Surgery,2011,6(2):84-103.
[3]Shaikh S N,Thompson C C.Natural orifice translumenal surgery:Flexible platform review[J].World Journal of Gastrointestinal Surgery,2010,2(6):210-216.
[4]Abbott D J,Becke C,Rothstein R I,et al.Design of an endoluminal NOTES robotic system[C]//IEEE/RSJInternational Conference on Intelligent Robots and Systems.San Diego,USA,2007:410-416.
[5]Astudillo J A,Sporn E,Bachman S,et al.Transgastric cholecystectomy using a prototype endoscope with 2 deflecting working channels(with video)[J].Gastrointestinal Endoscopy,2009,69(2):297-302.
[6]Fuchs K H,Breithaupt W.Transgastric small bowel resection with the new multitasking platform Endo SAMURAI?for natural orifice transluminal endoscopic surgery[J].Surgical Endoscopy,2012,26(8):2281-2287.
[7]Thompson C C,Ryou M,Soper N J,et al.Evaluation of a manually driven,multitasking platform for complex endoluminal and natural orifice transluminal endoscopic surgery applications(with video)[J].Gastrointestinal Endoscopy,2009,70(1):121-125.
[8]Dallemagne B,Marescaux J.The ANUBISTM project[J].Minimally Invasive Therapy&Allied Technologies,2010,19(5):257-261.
[9]Yao W,Childs P R.Application of design rationale for a robotic system for single-incision laparoscopic surgery and natural orifice transluminal endoscopic surgery[J].Proceedings of Institution of Mechanical Engineers Part H:Journal of Engineering in Medicine,2013,227(7):821-830.
[10]Lim J J B,Erdman A G.A review of mechanism used in laparoscopic surgical instruments[J].Mechanism&Machine Theory,2003,38(11):1133-1147.
[11]耿涛,符桂铭,梅雪松,等.一种基于双目视觉的工业机器人运动精度检测方法:中国,CN107088892A[P].2017-04-01.Geng Tao,Fu Guiming,Mei Xuesong,et al.A Motion Accuracy Detection Method for Industrial Robots Based on Binocular Vision:CN107088892A[P].2017-04-01(in Chinese).
[12]Yu F S,Sun Z G,Yin S J,et al.Study on the positioning error of turntable based on machine vision system[J].Applied Mechanics&Materials,2014,530/531:467-471.
[13]张晓芳.基于双目立体视觉非接触物体测量的研究[D].大连:大连理工大学计算机科学与技术学院,2009.Zhang Xiaofang.Research on Non-Contact Object Measurement Based on Binocular Stereo Vision[D].Dalian:School of Computer Science and Technology,Dalian University of Technology,2009(in Chinese).
[14]吕家国,蒋晓瑜,张鹏炜,等.医疗机器人双目视觉硬件系统设计与实现[J].中国光学,2014,7(2):307-314.LüJiaguo,Jiang Xiaoyu,Zhang Pengwei,et al.Design and implementation of a binocular vision hardware system for medical robots[J].China Optics,2014,7(2):307-314(in Chinese).
[15]罗钧,黄俊.基于机器视觉的二维小尺寸精密测量系统[J].计算机测量与控制,2007,15(1):11-13.Luo Jun,Huang Jun.Two-dimensional small-scale accuracy measurement system based on machine vision[J].Computer Measurement&Control,2007,15(1):11-13(in Chinese).
[16]张国军,胡剑.机电设备装调训练与考级:机械分册[M].北京:北京理工大学出版社,2012.Zhang Guojun,Hu Jian.Mechanical and Electrical Equipment Installation Training and Examination:Mechanical Parts[M].Beijing:Beijing Institute of Technology Press,2012(in Chinese).
[17]中国机械工业联合会.GB/T 17421.2-2016机床检验通则第二部分:数控轴线的定位精度和重复定位精度的确定[S].北京:中国标准出版社,2000.China Association of Machinery Industry.GB/T 17421.2-2016 Test Code for Machine Tools-Part 2:Determination of Accuracy and Repeatability Position Numerically Controlled Axes[S].Beijing:China Standard Press,2000(in Chinese).