The 3D shape analysis of elastic rod in shape sensing medical robot system

摘要

Interventional method as a medical diagnosis has been developed for many years, but some flaws still exist during medical diagnosis. To improve the comfort and safety of the patient, a shape sensing integration system of strain gauge-based shape sensing and binocular vision-based position of the handling part are presented, which use spatial curve curvature information to reconstruction flexible rod and binocular vision-based to detect the pose relative to reference global frame. Using 3D reconstruction technology and LAN-based data acquisition for strain gauge sensor, two systems are integrated into an effective shape sensing system which can be used to display the shape and pose relative to world coordinate system in real time and provide an intelligent platform for doctor in the process of colonoscopy to reduce the pain of the patient. Some simulation experiments have been done to verify the validity of the whole system.