Design Method And Space Mapping Of Minimally Invasive Surgical Robot Image System

The image system of minimally invasive surgery is an important part of minimally invasive surgical robot systems.The merits of the image system not only determines the overall performance of minimally invasive surgical robot,also implicated in the development and the design of other components of the robot modules.The image system of minimally invasive surgical robot involves endoscopic exploration,observation mode,operating mode,spatial mapping and many other issues.In this paper,from the development and the design perspective of the image system of minimally invasive surgery,the space mapping relationship and its implementation around the image system have been studied.This thesis makes the following creative achievements:1.According to the analysis of human depth cues,the concept of the motion parallax was introduced to minimally invasive surgical robot vision system with creativity.Motion parallax was used to compensate the distortion from the displacement of binocular visual depth with the viewpoint.The factors affecting the gain of motion parallax have been delved into.The gain of motion parallax,which could be applied into minimally invasive surgical robot,have been measured through designed experiments.2.Through the mapping relationship of spatial dimensions and the surgical field,the concept of full-dimensional perspective of three-dimensional(3D)endoscope had been proposed.According to minimally invasive surgical space / security constraints,the minimally invasive endoscopic surgical robot flexible joints have been proposed.To apply full-dimensional perspective of the endoscopic principles into minimally invasive endoscopic surgical robot "Microhand S" system,a corresponding control algorithms had been established.3.From the operational aspects of the robot,a mapping method which integrate both operating and visual has been presented.Based on the decomposition of hand movements,we propose a non-mechanical structure applicable to the above mapping method.An ergonomically intuitive mapping model has been established,and the minimally invasive surgical robot master mapping algorithm and implementation process were implemented based on the model.4.The space mapping algorithm of medical digital imaging was studied.For medical ultrasound imaging,2D to 3D space mapping model was built,and software was built for model validation.Ultrasound imaging and endoscopic image mapping algorithm was established to achieve the integration of multi-dimensional medical images.Combining the characteristics of medical surgical robot,medical imaging which would be applicable to robot calibration methods was analyzed.5.In the experimental study,the full-dimensional perspective of the 3D endoscope reliability was verified.The role of motion parallax in minimally invasive surgical robot operation were measured and validated through model test.By conducting comparing experiments,ultrasound image mapping algorithm was tested.Through animal experiments,the effectiveness of multi-dimensional medical image fusion algorithm was demonstrated.