Optical positioning technology of an assisted puncture robot based on binocular vision

摘要

Percutaneous image-guided interventions are increasing in number in clinical practice because they are minimally invasive. Needle positioning placement is crucial and highly dependent on the physician's skills and experience, it is often the longest part of the intervention. Medical robotics and computer-assisted surgery are hotspots in the field of robotics and medicine, changing the essence of traditional surgery using a combination of robotic, image processing, and computer technologies. The present paper aimed to study the auxiliary puncture procedure using a robot based on optical positioning technology that can be used to mark points in puncturing operation. Binocular camera is used for image acquisition, and Zhang's calibration method is used to establish the binocular camera model. In addition, the circular markers are identified by the least square method detection circle, and the coordinate information of the markers in three-dimensional space is solved by using the visual depth information of binocular phases. This paper studies the verification of the three-dimensional bone model of the human body, which lays a foundation for the application of the assistant puncture robot.