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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。
Endoscopic flexible rod shape display in the body is a new type of technology, with the help of this technology, when the patient’s colon is in an incorrect position or in the process of entering the endoscopic flexible rod Of the shape of the shape of the distortion, and shape distortion can lead to endoscopy unsafe, if you know in advance the occurrence of this condition, can give the diagnosis of safety. In this paper, we mainly study the shape of the endoscope flexible rod based on fiber grating sensing array and the attitude detection method of the binocular endoscope mirror handle. The integration of the two methods forms the entire endoscope’s shape system. The detailed analysis includes the detection principle based on fiber grating sensor information and the space curve reconstruction algorithm, and the pose estimation of the handle section of the endoscope relative to the world coordinate system. The experimental results prove the effectiveness of the proposed method. Compared with the previous studies, the accuracy of shape reconstruction has been increased to 4.5mm. By incorporating posture detection of the endoscope handle, the entire three-dimensional shape display subsystem becomes more efficient and practical.