一种视触觉引导的超声探头自动定位方法

doi:10.19665/j.issn1001-2400.2020.01.012

摘要/Abstract

摘要：

由于在传统的图像引导穿刺手术中,图像是由手持超声探头接触病灶位置获得的,往往因医生劳累或经验不足, 出现探头定位不准确、接触力控制不稳定等问题,导致穿刺失败。对此,提出一种利用视觉和力觉引导超声探头自动定位的方法。首先,利用组合图像处理算法和匹配算法进行小目标特征点检测;然后利用机械臂基于期望图像,通过位置视觉伺服和位姿变换引导超声探头到达初始期望位置;最后通过力觉闭环控制算法微调探头位置,保证恒压力接触。实验结果表明,该方法的特征点检测匹配平均误差和视觉定位平均误差均在2.5个像素以内,超声探头的接触力平均值稳定在3.86N。与传统的手持方法相比,该方法超声探头的定位精度更高,与被测物体接触力更稳定,使医生的操作更简易。

关键词: 手术机器人, 视觉伺服, 图像处理, 力觉, 机器人控制

Abstract:

Since images in traditional ultrasound-guided puncture surgery are obtained by touching the position of the lesion with a hand-held ultrasound probe, it often causes puncture failure by inaccurate probe positioning and unstable contact force control due to the doctor’s fatigue or poor experience. In this regard, a method for guiding the automatic positioning of the ultrasonic probe by using vision and force is proposed. First, the combined image processing algorithm and matching algorithm are used to detect the small target feature points. Then, the robotic arm is used to guide the ultrasonic probe to the initial desired pose based on the desired image through the positional visual servo and pose transformation. Finally, the force closed-loop control algorithm is adopted to fine-tune the probe position to ensure a constant contact pressure. Experimental results show that the average of the feature point detection matching error and the average visual positioning error of this method is within 2.5 pixels, and that the average contact force of the ultrasonic probe is stable at 3.86N. Compared with the traditional hand-held method, the ultrasonic probe has a higher positioning accuracy and more stable contact with the measured object, which makes the doctor’s operation easier.

Key words: surgical robots, visual servoing, image processing, force sense, robot control

中图分类号:

TP242

成天佑,林艳萍,马晓军. 一种视触觉引导的超声探头自动定位方法[J]. 西安电子科技大学学报, 2020, 47(1): 80-87.

CHENG Tianyou,LIN Yanping,MA Xiaojun. Ultrasound probe guiding method using vision and force[J]. Journal of Xidian University, 2020, 47(1): 80-87.

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参数	相机速度/(mm·s^-1)
参数	115	125	135	145	155
成功次数	10	10	9	6	0
失败次数	0	0	1	4	10
准确率/%	100	100	90	60	0

参数	姿态1-2	姿态2-3	姿态3-4	姿态4-5	姿态5-6	平均值	标准差
Δu/像素	2.00	2.08	1.98	2.13	1.97	2.03	0.07
Δv/像素	1.98	1.97	2.03	1.50	1.60	1.18	0.25
用时/ms	9.53	9.46	9.32	9.01	9.44	9.35	0.21

实验	u₁/像素	v₁/像素	u₂/像素	v₂/像素	u₃/像素	v₃/像素	u₄/像素	v₄/像素	F/N
实验1	1.14	0.48	1.66	0.47	1.37	0.63	1.98	0.86	3.80
实验2	2.03	0.02	2.60	0.06	2.23	0.18	2.97	0.45	3.80
实验3	2.16	0.42	2.68	0.40	2.40	0.52	3.05	0.73	4.00
实验4	1.29	0.87	1.87	0.97	1.45	1.20	2.16	1.34	3.80
实验5	0.70	2.97	1.76	2.99	0.81	2.24	2.22	2.10	3.80
实验6	1.48	0.27	1.85	0.16	1.53	0.28	2.13	0.08	3.90
均值	1.47	0.84	2.07	0.84	1.63	0.84	2.42	0.93	3.86
标准差	0.55	1.08	0.45	1.10	0.59	0.77	0.47	0.71	0.08

实验	x/mm	y/mm	z/mm	α/(°)	β/(°)	γ/(°)
实验2	0.42	0.61	0.72	0.01	0.21	0.34
实验3	0.12	0.46	0.41	0.06	0.15	0.12
实验4	0.82	0.31	1.63	0.10	0.52	0.06
实验5	0.05	1.35	0.09	0.12	0.04	0.71
实验6	0.15	1.39	0.45	0.21	0.18	0.65
均值	0.31	0.83	0.66	0.10	0.22	0.38
标准差	0.32	0.51	0.59	0.07	0.18	0.30