基于光纤光栅传感阵列及双目视觉的内窥镜三维显形系统的研究

内窥镜柔性杆在体内的形状显示是一种新型的技术,在这种技术的帮助下,当病人的结肠处于一种不正确的位置上或者说在进境的过程中内窥镜柔性杆的形状形成了扭曲,而形状扭曲会导致内窥镜检查的不安全性,如果预先知道这种状况的发生,就能给诊断带来安全性。本文主要研究了一种基于光纤光栅传感阵列的内窥镜柔性杆的形状及双目视觉的内窥镜镜手柄部分的姿态检测方法,这两种方法的集成构成了整个内窥镜的显形系统。详细的分析包括基于光纤光栅传感器信息的检测原理以及空间曲线重建算法,内窥镜手柄部分相对于世界坐标系的位姿估计。实验结果证明了提出方法的有效性。比较以前的研究,形状重建的精度已经提高到了4.5mm。通过加入内窥镜手柄的位姿检测,整个三维形状显示子系统变得更加有效和更实用化。

3-D Shape Display of Intelligent Colonoscope Based on FBG Sensor Array and Binocular Vision

The display of the colonoscope shape inside human body is a new technique under development which helps the doctor to judge visually if the patient colon is in normal situation or tends to twist the colonoscope into an unusual and unsafe shape.This paper presents a real-time shape reconstruction method based on Fiber Bragg Grating (FBG) sensor array and a positioning technique of colonoscope's handle part by means of binocular vision,while the colonoscope inserted into human colon.Detailed analysis include the detecting principles,spatial curve reconstruction algorithm from the information of FBG sensors,and estimation of pose of the handle part of the colonoscope relative to the world frame.Experimental results demonstrate the effectiveness of the proposed techniques.With an accuracy of shape reconstruction to be improved to 4.5mm compared with earlier research. By adding the pose detecting subsystem for the colonoscope's handle part,the 3D shape display subsystem will work more effectively and become more practical.