| Summary: | 碩士 === 逢甲大學 === 自動控制工程學系 === 101 === Surgery in nowadays, despite medical imaging and optical positioning device assist surgeon to perform surgery, the surgeon must ensure the safety of surgical path by taking CT(Computed Tomography) all the time under safe consideration. So, we consider how to design a set of real-time tracking and positioning system of the surgical instrument by using CCD equipment during surgery. Taking this method, we can immediately provide surgeon with the location of the surgical instrument to reduce the times of CT, the cost and the burden of surgeon.
The coordinate of the tip point for the surgical instrument can be calculated immediately during surgery by using additional labeling method (three positioning feature points). Also, the posture of surgical instrument can be real-time measured and computed by using twin CCD.
In the real-time monitoring, we use image recognition and template matching methods with twin CCD to do the jobs of searching, recognizing, positioning, and tracking. And use table and machine in the laboratory to simulate the experimental environment of the surgery room and operation table. We install the CCD above the patient bed and take a picture with the CCD camera from the side of a shooting area on the table. In this area, we can locate and track the surgical instrument. Besides the corner of the patient bed is defined as the origin point of the world coordinate, the camera system and surgical instrument also have their own coordinates. So, using transformation relations, we can derive the position of instrument tip point and the orientation of surgical instrument. The coordinate locations of three positioning feature points and the tip point can be monitored immediately by the surgeon through the screen display.
Keywords: twin CCD image platform, image recognition, template matching
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