为了准确测量针穿刺过程中的软组织变形，提出了一种基于图像形态学的软组织形变测量方法。阐述了边缘检测、图像膨胀和腐蚀等算法，获取组织内标识物增强图像。提取标识物重心位移，并存入测量矩阵M中。搭建了包括精密运动装置、工业相机、光源和嵌入标识物的水凝胶假体等组成的组织形变测量平台。实时采集了穿刺过程图像，并利用形态学算法测量了组织内标识物的位移。经误差补偿后，组织形变测量误差小于0.7 mm。该方法可提高机器人辅助针穿刺手术精度。%A method is provided for measuring soft tissue deformation based on the image morphology in order to obtain the amount of tissue deformation during needle insertion procedure accurately. The algorithms of edge detection, image expansion and corrosion are explained and employed to enhance the images of the markers embedded into soft tissue. The centroids of the markers are extracted and stored into the measurement matrix M. A measurement platform, including the precision motion stage, industrial camera, light source and crystal artificial tissue with marker, is built. The real-time images are collected during needle insertion procedure. The displacements of the markers are calculated using the morphology-based method. The measurement error is less than 0.7 mm with the compensation. The method could improve the accuracy and precision of robot-assisted needle insertion surgeries.
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