计算机集成手术（CISS）及其关键技术研究-模式识别与智能系统专业论文.docxVIP

计算机集成手术(oss)及其关键技术研究摘 计算机集成手术(oss)及其关键技术研究 摘 要 f什‘年来高速发展的计算机、机器人、电子信息以及网络通信等技术已经 缝习淹多地应用于医学领域。传统医学知识由于技术上存在的种种不足，而难以 潴是现代的手术需求。工程技术的发展在很大程度一}!提升了手术质量，并且改变 链僚豹手术过程。 本文基于计算机集成手术(CISS)的理念，提出了ClSS系统的技术模型和架 构遗计方案，并且系统地分析了技术专项的研究内容构成和集成。在CISS技术 檬型和架构设计的基础上，本文对于图像处理领域相关的两项关键技术：定位跟 嬲P撖．{之和CISS摄像机校准技术进行了系统性的论述。定位跟踪导航技术是C1SS 平台的关键部件之一。而摄像机校准技术是定位跟踪导航技术的基础。没有良好 甥。毒田摄像机校准技术就不可能有精确的摄像机定位跟踪导航。本文对上述两项 ，t”￡术的论述包括技术概要，ClSS系统的需求分析，技术研究内容的确定 ^段CISS系统定位系统以及摄像机校准技术的具体设计、算法流程和实验结果。 、／ 一‘ j。一 关键词：计算机辅助手术，计算机集成手术，光学定位与跟踪，摄像 ——_，●，——--’——一J 机校准 、， 罗竖鲤一。 Research Research on Computer Integrated Surgical System and Key Technologies ABSTRACT Engineering technologies have been more and more applied in the surgery area in the last tens of years due to the rapid development of technologies such as computer, robot，information processing and communication technologies．Traditional medical technology can hardly meets the current requirements of surgeries．Developments of technologies have significantly impoved surgical qualities and changed the surgery processes． Based on the“Computer Integrated Surgical System”(CISS)concepts and initiatives， CISS technology model and architecture design are presented in the thesis．The methodology of technology research and integration in the CISS environment has been analyzed systematically．On the basis of CISS technology model and system architecture，two key technologies of CISS，which are related with image processing and computer vision．are systematically discussed：“Positioning＆Tracking Technology”and“Camera Calibration Technology’．PositioningTracking component is one of the critical components of CISS．Camera Calibration technology is the basement of carnera positioning and tracking．There would hardly be hi曲 accurate camera positioning，tracking and navigation without high accurate camera calibration．Related technology research issues are discussed，including：technology summary,requirement analysis of CISS technology and research contents．The system design，algorithm