医疗机器人支撑喉镜下手术的视觉导引

详细论述了医疗机器人如何利用双目视觉系统，通过采集喉镜上3个标记点的三维坐标，获得喉部手术前支撑喉镜的三维位姿信息，并进行了摄像机标定实验与动物手术前视觉导引实验的研究。实验结果表明，该方法具有精确度高、速度快、可实时获得支撑喉镜的相对位置和姿态等优点。

Surgical Robot Operation with Vision Guidance under Laryngoscope

This paper stated how surgical robot uses binocular vision system to get three - dimensional position and orientation of the laryngoscope through gathering the three - dimensional coordinates of three marked points on the laryngoscope, and then the research of cmera calibration experiment and vision guidance experiment before the animal operation were done. The results of the experiment indicate that this method has many advantages, such as high precision, high Speed and getting the comparative position and orientation of the laryngoscope timely.