研究生: |
陳嘉興 Chia-Hsin Chen |
---|---|
論文名稱: |
腹腔鏡手術訓練系統之器械空間定位器的設計與開發 Design and development of an instrument space locator for laparoscopic surgery training system |
指導教授: |
林淵翔
Yuan-Hsiang Lin |
口試委員: |
阮聖彰
Shanq-Jang Ruan 吳晉賢 Chin-Hsien Wu 林昌鴻 Chang Hong Lin |
學位類別: |
碩士 Master |
系所名稱: |
電資學院 - 電子工程系 Department of Electronic and Computer Engineering |
論文出版年: | 2014 |
畢業學年度: | 102 |
語文別: | 中文 |
論文頁數: | 115 |
中文關鍵詞: | 腹腔鏡手術 、虛擬實境 、器械定位器 |
外文關鍵詞: | laparoscopic surgery, virtual reality, poaition tracking system |
相關次數: | 點閱:309 下載:3 |
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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.
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