Modeling the convergence accommodation of stereo vision for binocular endoscopy

Gao, Yuanqian; Li, Jinhua; Li, Jianmin; Wang, Shuxin

doi:10.1002/rcs.1866

Cited by 2 publications

(1 citation statement)

References 37 publications

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“…11 Gao et al studied the internal parameters of the binocular camera, the external rotation matrix, and the translation matrix through the application of a binocular vision positioning medical arm in precise radiosurgery. 12 In this paper, medical puncture of skin markers in precise coordinate system is studied by using optical positioning method based on binocular vision measurement. In order to obtain the accurate positioning of the end position of the assistant puncture robot tool, the robot-guided fixture accurately locates the needle on the skin for accurate operation.…”

Section: Introductionmentioning

confidence: 99%

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

Jiang

Luo

Bai

2018

Int J Imaging Syst Tech

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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.

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Section: Introductionmentioning

confidence: 99%