北京生物医学工程

圆柱体空间姿态的解算方法研究

Spatial 3D Pose Measurement of Cylindrical Object

作者：蔡昆玉吴剑叶大田

单位：清华大学生物医学工程系（北京100084）

分类号：

出版年·卷·期（页码）：2010·29·2（189-193）

摘要：

在带锁髓内钉治疗长骨骨折手术中，远端锁孔的空间方位需频繁使用X线透视来确定，对医生和患者造成较大的辐射伤害。因此，本文在C型臂投影模型以及髓内钉远端锁孔简化为圆柱体模型的基础上，提出了一种由二维X光投影图像求解锁孔空间位置信息的方法，以辅助锁孔定位。实验结果表明，圆柱体上、下底面投影椭圆的拟合恢复效果是空间姿态解算结果是否准确的关键，另外，成像系统的成像和标定误差也是造成解算结果不准确的主要原因之一。通过本论文的研究，将有助于髓内钉远端锁孔的计算机辅助定位技术的实现。

During the long bone fracture surgery procedure by using intramedullary nail, a number of fluoroscopic perspective projections of distal locking are frequently taken to identify the pose of the nail hole, and that harms both surgeon and patient. Therefore, we proposed a method of the nail hole’s 3D pose measurement from 2D Xray image, basing on the perspective projection mode of the Carm and the reduction of the nail hole to a cylinder, which could assist the pose localization. The experiment results show that the fitting effect of the top and bottom caps’ projection of the cylinder was the key to the pose estimation. In addition, the imaging and calibration error of the imaging system was also one of the major cause of inaccuracy. Our research will help the computer assisted localization technique of the intramedullary nail’s distal locking come true.

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