(3.238.186.43) 您好!臺灣時間:2021/03/05 22:26
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果

詳目顯示:::

我願授權國圖
: 
twitterline
研究生:陳嘉興
研究生(外文):Chia-Hsin Chen
論文名稱:腹腔鏡手術訓練系統之器械空間定位器的設計與開發
論文名稱(外文):Design and development of an instrument space locator for laparoscopic surgery training system
指導教授:林淵翔
指導教授(外文):Yuan-Hsiang Lin
口試委員:林淵翔
口試委員(外文):Yuan-Hsiang Lin
口試日期:2014-01-21
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:電子工程系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2014
畢業學年度:102
語文別:中文
論文頁數:115
中文關鍵詞:腹腔鏡手術虛擬實境器械定位器
外文關鍵詞:laparoscopic surgeryvirtual realitypoaition tracking system
相關次數:
  • 被引用被引用:1
  • 點閱點閱:151
  • 評分評分:系統版面圖檔系統版面圖檔系統版面圖檔系統版面圖檔系統版面圖檔
  • 下載下載:8
  • 收藏至我的研究室書目清單書目收藏:0
微創手術由於傷口小,可以加快病人痊癒的速度,已被廣泛應用在各種的外科手術中而腹腔鏡手術為其中一種。在虛擬的訓練系統中不可或缺的器械空間定位系統由於需要即時的影像處理及運算,而虛擬實境技術也需要花費大量的電腦運算資源,若兩者同時交由電腦運算處理,將會使得整體的系統效能下降。
因此本研究主要使用FPGA開發一套用於虛擬腹腔鏡手術訓練系統中的器械定位器,整個系統可支援兩組CMOS Sensor鏡頭輸入並經由影像處理及顏色轉換後,系統可同時分離出六組的Color Marker座標,這在腹腔鏡手術訓練系統中將可用於同時偵測到左手及右手的手術器械的位置及移動的軌跡。由於已將空間定位中的立體視覺動作捕捉系統內的畫面擷取、影像處理及座標計算三個步驟採用FPGA硬體設計,因此可有效的降低電腦的運算量,提升整體系統的效能。
Laparoscopic surgery is one of the important minimally invasive surgeries, and it has been widely used in a variety of surgical procedures because of the features on tiny incisions, and quicker recovery time. Virtual Reality (VR) technology has been commonly used in laparoscopic surgery training nowadays. Space positioning system, the integral part of the VR training system, required a lot of real-time image processing and data computing. On the other hand, the graphic computing in VR training system also cause big amount of computing resource. The overall system performance decline will cause if both of them compute together at the same time.
Hence, the aim of this research is using FPGA to develop a space position tracking system. The system can support two CMOS sensor camera to simultaneously isolate six groups of Color Marker coordinates via the image processing and color conversion, and concurrently detect the position and trajectory of the left-handed and right-handed instruments. Since the screen capture, image processing and coordinate calculation have been dealt with FPGA-based space position tracking system, the amount of computation will be efficiently reduced and enhance the performance of the entire system.
摘要 I
Abstract II
誌謝 III
目錄 IV
圖目錄 VIII
表目錄 XII
第1章 緒論 1
1.1 研究動機 1
1.2 研究目的 2
1.3 論文架構 2
第2章 研究背景 3
2.1 腹腔鏡手術介紹 3
2.2 腹腔鏡手術訓練的必要性 4
2.3 腹腔鏡手術訓練模擬系統 5
2.3.1 市面上的模擬系統 5
2.3.2 相關的學術研究 8
2.4 虛擬實境應用於腹腔鏡手術訓練系統 9
第3章 系統設計與方法 11
3.1 系統架構 12
3.2 FPGA硬體模組 13
3.2.1 控制暫存器單元 14
3.2.2 I2C串列通訊介面 14
3.2.3 CMOS影像感測器處理單元 15
3.2.3.1 CMOS Sensor介紹 16
3.2.3.2 Line Buffer Array 17
3.2.3.3 CMOS Sensor Bayer Color Filter Interpolation 18
3.2.3.4 輸入範圍擷取 21
3.2.3.5 CMOS Sensor I2C Master控制介面 23
3.2.4 色彩空間轉換 26
3.2.4.1 YUV 色彩空間 26
3.2.4.2 HSV色彩空間 26
3.2.5 Color Marker 處理單元 27
3.2.5.1 Color Marker偵測模組 29
3.2.5.2 型態學處理 31
3.2.6 空間座標轉換 34
3.2.6.1 Color Marker 2D 座標計算 34
3.2.6.2 相機鏡頭形變修正 35
3.2.6.3 相機鏡頭外部參數 37
3.2.6.4 3D 座標轉換 37
3.2.6.5 TIP點座標計算 40
3.2.7 Monitor顯示模組 40
3.2.8 Clock 控制單元 43
3.3 PC端軟體 44
第4章 實驗結果與討論 45
4.1 FPGA設計 45
4.2 相機校正 47
4.3 空間定位準確度驗證 54
4.3.1 Z 軸座標量測 55
4.3.2 TIP 座標量測 62
4.3.3 TIP 座標量測校正 67
4.4 誤差討論 74
第5章 結論與未來展望 76
5.1 結論 76
5.2 未來的展望 77
參考文獻 78
附錄A 82
附錄B 88
[1] 朱百晟,「腹腔鏡手術模擬系統」,成功大學碩士論文,民國92年
[2] C. Feng, J. W. Rozenblit, and A. J. Hamilton, "A Hybrid View in a Laparoscopic Surgery Training System," Proceedings of the 14th Annual IEEE International Conference and Workshops on the Engineering of Computer-Based Systems, pp. 339-348, 2007
[3] A. L. Trejos, A. C. Lyle, A. Escoto, M. D. Naish, and R. V. Patel, "Force/position-based modular system for minimally invasive surgery," IEEE ICRA, pp. 3660-3665, May, 2010
[4] D. Burschka, J. J. Corso, M. Dewan, W. Lau, M. Li, H. Lin, P. Marayong, N. Ramey, G. D. Hager, B. Hoffman, D. Larkin and C. Hasser, "Navigating inner space: 3-D assistance for minimally invasive surgery," Robotics and Autonomous Systems, vol. 52, pp. 5-26, 2005
[5] O. Tonet, R. U. Thoranaghatte, G. Megali and P. Dario, "Tracking endoscopic instruments without a localizer: a shape-analysis-based approach," Computer Aideded Surgery, vol. 12, pp. 35-42, 2007
[6] R. Wolf, J. Duchateau, P. Cinquin and S. Voros, "3D tracking of laparoscopic instruments using statistical and geometric modeling," Medical image computing and computer-assisted intervention, vol. 6891, pp. 203-210, 2011
[7] Altera, DE0-Nano User Manual
[8] Wikipedia: Endoscopy
http://en.wikipedia.org/wiki/Endoscopy
[9] 腹腔鏡手術場景
http://zh.wikipedia.org/wiki/File:US_Navy_081117-N-7526R-568_Cmdr._Thomas_Nelson_and_Lt._Robert_Roadfuss_discuss_proper_procedures_while_performing_a_laparoscopic_cholecystectomy_surgery.jpg
[10] 魯欣,高旭,孫穎浩,「腹腔鏡培訓效果評價方法的研究」,中華腔鏡泌尿科外科雜誌:電子版, pp. 22-24, 2009
[11] F. H. Halvorsen, O. J. Elle and E. Fosse, "Simulators in surgery," Minimally Invasive Therapy & Allied Technologies, vol. 4-5, pp. 214-223, 2005
[12] Xitact LS500
http://depts.washington.edu/surg/biointel/Xitact.ppt
[13] S. Undre and A. Darzi, "Laparoscopy simulators," Journal of Endourology, pp. 274-279, Mar., 2007
[14] M. P. Schijven and J. Jakimowicz, "The Learning Curve on the Xitact Ls 500 Laparoscopy Simulator: Profiles of Performance," Surg Endosc, pp. 121-127, 2004
[15] Simbionix LAP Mentor
http://simbionix.com/simulators/lap-mentor/2045-2/
[16] M. Schijven and J. Jakimowicz, "Virtual Reality Surgical Laparoscopic Simulators," Surgical Endoscopy And Other Interventional Techniques, pp. 1943-1950, 2003
[17] I. D. Ayodeji, M. Schijven, J. Jakimowicz and J. W. Greve, "Face Validation of the Simbionix Lap Mentor Virtual Reality Training Module and Its Applicability in the Surgical Curriculum," Surgical Endoscopy, pp. 1641-1649, 2007
[18] A. Zhang, M. Hunerbein, Y. Dai, P. M. Schlag and S. Beller, "Construct validity testing of a laparoscopic surgery simulator (Lap Mentor): evaluation of surgical skill with a virtual laparoscopic training simulator," Surgical Endoscopy, pp. 1440-1444, 2008
[19] ProMISTM Laparoscopic
http://laparoscopy.blogs.com/laparoscopy_today/images/7-2/KanumuriFigure2.jpg
[20] K. R. Van Sickle, D. A. McClusky III, A.G. Gallagher and C. D. Smith, "Construct validation of the ProMIS simulator using a novel laparoscopic suturing task," Surgical Endoscopy, pp. 1227-1231, 2005
[21] D-Box模擬器
http://www.nortrade.com/Documents/Articles/industrial%20design.jpg
[22] A. J. Debes, R. Aggarwal, I. Balasundaram and M. B. Jacobsen, "A tale of two trainers: virtual reality versus a video trainer for acquisition of basic laparoscopic skills," The American Journal of Surgery, Vol. 199, Issue 6, pp. 840-845, 2010
[23] K. S. Lehmann, J. P. Ritz, H. Maass, H. K. Cakmak, U. G. Kuehnapfel, C. T. Germer, G. Bretthauer and H. J. Buhr, "A prospective randomized study to test the transfer of basic psychomotor skills from virtual reality to physical reality in a comparable training setting," Annals of Surgery, Vol. 241, No. 3, pp. 442-449, 2005
[24] C. D. Combs, "Medical simulators: current status and future needs, " IEEE DOI10.1109/WETICE, pp. 125-129, 2010
[25] F. C. Huang, C. M. Pugh, J. L. Patton and F. A. Mussa-Ivaldi, "Learning Kinematic Mappings in Laparoscopic Surgery," IEEE EMBS, pp. 2097-2102, Aug./Sep., 2010
[26] 羅元隆,「腹腔鏡手術訓練系統之設計與開發」,台灣科技大學碩士論文,民國100年
[27] 姚凱傑,「虛擬腹腔鏡手術模擬系統之研究」,中央大學碩士論文,民國91年
[28] 簡孟君,「曲面剪裁應用於腹腔鏡手術模擬系統之研究」,成功大學碩士論文,民國94年
[29] I2C-BUS Specification version 2.1, Jan., 2000
[30] Galaxy Core, GC0308 Datasheet
[31] J. T. Bosiers, A. C. Kleimann, H. C. van Kuijk, L. Le Cam, H. L. Peek, J. P. Maas and A. J. P. Theuwissen, "Frame transfer CCDs for digital still cameras: concept, design, and evaluation," IEEE Transactions on Electron Devices, Vol. 49, Issue: 3, pp. 377-386, Mar., 2002
[32] J. Heikkila and O. Silven, "A four-step camera calibration procedure with im-plicit image correction," Porc. Conf. Computer Vision and Pattern Recognition, pp. 1106-1112, Jun., 1997
[33] Camera Calibration Toolbox for Matlab with a complete documentation http://www.vision.caltech.edu/bouguetj/calib_doc/‎
[34] BITEK, BIT1618B Datasheet
連結至畢業學校之論文網頁點我開啟連結
註: 此連結為研究生畢業學校所提供,不一定有電子全文可供下載,若連結有誤,請點選上方之〝勘誤回報〞功能,我們會盡快修正,謝謝!
QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top
無相關期刊
 
系統版面圖檔 系統版面圖檔