Research On Gesture Interaction Of Prostate Seed Implantation Robot In Mixed Reality Environment

Radioactive particle implantation is the main method to treat cancer at present,especially in the treatment of prostate,compared with the traditional prostatectomy.Prostatic seed implantation can reduce the impact on the patient’s life and the possibility of postoperative complications with minimal impact on the patient’s sexual function.In recent years,prostate seed implantation has adopted the method of using robots instead of doctors to reduce the work intensity of doctors.However,there are still many problems that need to be studied,such as poor visualization effect,single preoperative navigation and single interaction mode.This paper studies the gesture interaction of the prostate seed implantation robot in the mixed reality environment.Through the interaction of mixed reality and gesture,it provides a better visualization environment and more interaction options for the prostate seed implantation robot,and strives to facilitate doctors to observe the patient before surgery and realize intuitive and convenient man-machine interaction method.To achieve the safe,automatic and precise implantation of prostate seed.In this paper,MRI medical images of the patient’s prostate are used for medical image preprocessing.Through image denoising,image edge sharpening and image segmentation of MRI medical images,clearer medical images can be obtained to facilitate three-dimensional reconstruction.Mimics 3D reconstruction software is used for 3D reconstruction of MRI medical images to obtain 3D models of prostate and surrounding tissues including bladder,rectum and pubic bone.The mixed reality environment of the prostatic seed implantation robot was built and the 3D Registration algorithm of the mixed reality is studied.Firstly,the coordinate transformation and process of 3D Registration are analyzed,then the common algorithms of 3D Registration are analyzed,and an improved ICP algorithm based on SVD is proposed,the coarse Registration of ICP is improved.The coordinate transformation relationship of gesture interaction is studied.Leap Motion sensor is used for gesture interaction.Through analyzing the coordinate system of hardware,robot coordinate system and the coordinate of palm,a coordinate transformation method of gesture interaction named Human Robot Gesture Coordinate Transformation is proposed to achieve accurate gesture interaction effect.In addition,D-H coordinate system is established for kinematic analysis of the prostate implant robot,and through Mix-reality that gesture interaction with the robot is realized.The improved ICP algorithm based on SVD and the coordinate transformation method of gesture interaction proposed in this paper are verified by experiments.Firstly,the method of pasting markers on the surface of the silicone dummy of the patient is used to compare the mean error of the ICP algorithm and the improved ICP algorithm based on SVD for 3D Registration.Finally,the conclusion that the improved algorithm can improve the accuracy of 3D Registration is obtained by comparing the experimental data.Then,the gesture interaction experiment platform of the prostatic particle implantation robot is built,and the coordinate transformation method of gesture interaction proposed in this paper is verified.Through repeated experiments on the target points on the target paper,the average error is taken,and the error is analyzed.The machine-selected particle implantation error was considered to meet the requirements of surgery.