Journal of Computer Applications ›› 2016, Vol. 36 ›› Issue (8): 2327-2331.DOI: 10.11772/j.issn.1001-9081.2016.08.2327

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Camera calibration method of surgical navigation based on C-arm

ZHANG Jianfa, ZHANG Fengfeng, SUN Lining, KUANG Shaolong   

  1. School of Mechanical and Electric Engineering, Soochow University, Suzhou Jiangsu 215021, China
  • Received:2015-12-24 Revised:2016-04-25 Online:2016-08-10 Published:2016-08-10
  • Supported by:
    This work is partially supported by the Key Technologies R&D Programme of Science and Technology Ministry (2014BAD12B01, 2013BAD20B04), the Northeast Agricultural University Innovation Foundation for Postgraduate (yjscx14025), the Natural Science Fund Projects of Northeast Agricultural University (2011RCA01).

基于C形臂的手术导航相机标定方法

张建法, 张峰峰, 孙立宁, 匡绍龙   

  1. 苏州大学 机电工程学院, 江苏 苏州 215021
  • 通讯作者: 匡绍龙
  • 作者简介:张建法(1990-),男,江苏淮安人,硕士研究生,主要研究方向:手术导航;张峰峰(1979-),男,山东日照人,副教授,博士,主要研究方向:医疗机器人、系统集成、医疗仿真、生肌电技术;孙立宁(1964-),男,黑龙江鹤岗人,教授,博士生导师,博士,主要研究方向:纳米级微驱动、微操作机器人、高速高精度机构、工业机器人技术、医疗机器人;匡绍龙(1973-),男,安徽金寨人,副教授,博士,主要研究方向:医疗机器人、手术导航、人机交互与工效学。
  • 基金资助:
    国家863计划项目(2012AA041602)。

Abstract: Concerning the problem that too many transitional links and complex parameter solving process existed in camera calibration of the surgical navigation based on C-arm, a new method that completely ignored the camera model was proposed. In this method, the camera model was completely ignored, and the transition link in the process of solving mapping parameters was simplified, which increased the efficiency. In addition, the camera calibration was achieved by distinguishing the projection data from the calibration target which has double-layer metal ball. In the calibration point verification experiment, it can be proved that the residual error of each test point was no more than 0.002 pixels; in the navigation validation experiment, probe point and perforation test were successfully implemented with the established preliminary experiment platform. The experimental results verify that the proposed camera calibration method can meet the accuracy requirements of surgical navigation system.

Key words: C-arm, calibration target, experiment platform, camera calibration, surgical navigation system

摘要: 针对基于C形臂的手术导航系统中相机标定这一关键技术中存在的过渡环节过多、参数求解过程复杂等问题,提出一种完全忽略相机模型的解决方法。该方法完全忽略相机模型,在映射参数求解过程中简化了过渡环节,使得算法实现变得高效;同时,提出了带有双层金属球的校准靶,通过识别小球的投影数据来实现相机标定。在校准点验证实验中,可以验证经变换后的坐标的残余误差均不超过0.002像素;在导航验证实验中,借助初步搭建的导航平台成功实现了探针取点及穿孔。实验结果表明,该相机标定方法的精度能够满足手术导航系统的精度要求。

关键词: C形臂, 校准靶, 实验平台, 相机标定, 手术导航系统

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