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

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