j.issn.1005-202X.2024.06.008]
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基于图像处理的柔性穿刺针多种运动轨迹模型建立与比较()

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《中国医学物理学杂志》[ISSN:1005-202X/CN:44-1351/R]

Title:: Establishment and comparison of multi-trajectory models of flexible puncture needle based on image processing

作者:: 白辉全1; 高德东2; 宋艳青3; 1.西宁市第一人民医院设备科，青海西宁 810000； 2.青海大学机械工程学院，青海西宁 810000； 3.海东市水务局，青海海东 810600

Author(s):: BAI Huiquan1; GAO Dedong2; SONG Yanqing3; 1. Equipment Department, Xining First Peoples Hospital, Xining 810000, China 2. School of Mechanical Engineering, Qinghai University, Xining 810000, China 3. Haidong Water Authority, Haidong 810600, China

Keywords:: Keywords: needle puncture morphology least square method curve fitting residual optimal solution

摘要:: 为了准确测量针穿刺过程中柔性穿刺针的运动轨迹，提出一种基于图像处理的柔性穿刺针运动轨迹模型建立方法。通过图像采集系统采集穿刺实验过程中的动态图像，采集动态图像借鉴图像处理形态学技术提取柔性穿刺针在穿刺实验过程中的针尖位置坐标。根据提取的针尖数据采用最小二乘法进行曲线拟合，建立二阶多项式模型、指数函数模型、自行车模型。通过分析不同模型的优度指标、残差及残差平方和，认为二阶多项式模型更优于其余两种模型，为柔性穿刺针运动轨迹模型的最优解。

Abstract:: Abstract: A method of establishing the motion trajectory model of flexible puncture needle based on image processing is proposed to accurately measure the motion track of the flexible needle during needle insertion. The dynamic images of needle insertion are collected through the camera system, and the position coordinates of the flexible needle tip during needle insertion are extracted using the image processing morphology technology. Based on the extracted needle tip data, the least square method is employed for curve fitting, and the second-order polynomial model, exponential function model, and bicycle model are established. The analysis on the goodness of fit, residual, and residual sum of squares of different models reveals that the second-order polynomial model is superior to the other two models in exploring the optimal solution of the trajectory model of flexible puncture needle.

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备注/Memo:: 【收稿日期】2024-01-08 【基金项目】国家自然科学基金（51665049）；上海市教育发展基金会“晨光计划”项目（22CGB15）【作者简介】白辉全，硕士，工程师，研究方向：医疗机器人，E-mail: 857776465@qq.com

更新日期/Last Update: 2024-06-25