手术导航系统三维配准算法研究与仿真

摘要

There are many factors affecting the precision of surgery navigation system, such as the precision of instruments, 3D reconstruction and registration. The registration is one of the difficulties of the software. Aimed at the problems that the traditional ICP algorithm can not guarantee global convergence if it does not have the ideal initial value and the local minimum may occur, this paper presents an improved ICP registration algorithm to avoid these problems. The improved ICP registration algorithm combines the quaternion method with the ICP algorithm, the registration process is divided into initial registration and fine registration. First we start the initial registration with quaternion method, and then set the initial registration results as the initial values of ICP algorithm. Simulation results show that the improved ICP registration algorithm not only has the high accuracy, but also avoids the local minimum problem, and further enhances the robustneas and reliability of surgery navigation system.%研究图像手术导航问题,影响手术导航系统精度的主要因素有手术器械的制造精度、三维重建的精度和三维配准的精度.主要配准是导航的难点.针对传统ICP配准算法在初始值不理想的情况下不能保证全局收敛,出现局部最小值问题,从而影响配准的精度,提出一种改进的ICP配准算法把四元数法与ICP算法结合起来,将配准过程分成初配准和精配准.首先用四元数法进行初配准,然后将初配准结果作为ICP算法的初始值,再运用ICP算法进行精配准.仿真结果表明,改进的ICP配准算法不但精度较高,而且能够避免产生局部最小值问题,所以能够进一步提高手术导航系统的鲁棒性和可靠性.