图学学报
圖學學報
도학학보
Journal of Graphics
2015年
5期
771-775
,共5页
白辉全%高德东%王珊%李强%郑浩峻
白輝全%高德東%王珊%李彊%鄭浩峻
백휘전%고덕동%왕산%리강%정호준
软组织%针穿刺%组织变形%形态学
軟組織%針穿刺%組織變形%形態學
연조직%침천자%조직변형%형태학
soft tissue%needle insertion%tissue deformation%morphology
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。
為瞭準確測量針穿刺過程中的軟組織變形,提齣瞭一種基于圖像形態學的軟組織形變測量方法。闡述瞭邊緣檢測、圖像膨脹和腐蝕等算法,穫取組織內標識物增彊圖像。提取標識物重心位移,併存入測量矩陣M中。搭建瞭包括精密運動裝置、工業相機、光源和嵌入標識物的水凝膠假體等組成的組織形變測量平檯。實時採集瞭穿刺過程圖像,併利用形態學算法測量瞭組織內標識物的位移。經誤差補償後,組織形變測量誤差小于0.7 mm。該方法可提高機器人輔助針穿刺手術精度。
위료준학측량침천자과정중적연조직변형,제출료일충기우도상형태학적연조직형변측량방법。천술료변연검측、도상팽창화부식등산법,획취조직내표식물증강도상。제취표식물중심위이,병존입측량구진M중。탑건료포괄정밀운동장치、공업상궤、광원화감입표식물적수응효가체등조성적조직형변측량평태。실시채집료천자과정도상,병이용형태학산법측량료조직내표식물적위이。경오차보상후,조직형변측량오차소우0.7 mm。해방법가제고궤기인보조침천자수술정도。
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.