智能内窥镜的形状重建和可视化方法研究.pdfVIP

35 12 Vol. 35 No. 12 2014 12 Chinese Journal of Scientific Instrument Dec. 2014 * 智能内窥镜的形状重建和可视化方法研究 沈林勇, 肖 海, 钱晋武, 杨吕剑, 章亚男 (上海大学机电工程与自动化学院 上海 200072) 摘 要: 利用磁场等方法进行腔道形状检测的内窥镜显形技术, 通常是根据空间离散点位置来重建空间形状曲线, 必须 借助复杂的设备, 成本较高。本文介绍了一种基于光纤光栅形变测试技术的智能内窥镜形状重建和可视化的方法, 实现 了基于曲率的曲线形状重建技术, 并且具有硬件系统原理简单的特点, 易于实现, 对开发具有形状显示功能的智能内窥 镜具有重要意义。本文主要内容包括了基于离散曲率的平面和空间曲线重建方法、典型曲线的实例验证、基于光纤光栅 传感器的曲率检测方法、以及平面和空间实际形状检测的试验结果。 关键词: 内窥镜; 形状重建; 曲线拟合; 曲率; 光纤光栅 中图分类号: TP212 文献标识码: A 国家标准学科分类代码: 460.4020 Shape reconstruction and visualization of intelligent endoscope Shen Linyong, Xiao Hai, Qian Jinwu, Yang Lvjian, Zhang Yanan (College of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China) Abstract: The endoscope with the magnetic field to detect the shape of the cavity is usually based on the location of the spatial discrete points to reconstruct the shape of the space curve. A large auxiliary equipment should be used, which leads to high cost. A kind of method to reconstruct endoscopic shape based on fiber Bragg gratings is presented, which achieves a reconstruction upon the curvature of the shape of curve. The method has the characteristics of a simple hardware system and easy implementation. It ’s important for the development of the endoscope with the function of the shape display. The curve fitting method based on the curvature data of discrete points is investigated, and the typical curves are used to validate the curve fitting method. The curvature