现有的结肠镜手术中,医师的技术极大地影响着手术的结果.为了实现准确无误的手术,可采用智能机器人技术进行微创手术的导航.为了更好地辅助结肠镜的视觉导航,提出了一种新的基于肠道轮廓的结肠镜视觉导航方法.该方法首先采用可转向滤波器检测结肠轮廓的边缘强度能量及朝向;然后,通过法线方向的能量辐射在图像上累积的方法来检测结肠图像中边缘轮廓弯曲所形成的中心区域.实验证明,用这个方法来辅助基于暗区分析的结肠镜视觉引导,可增加结肠镜导航的鲁棒性.

The colonoscopy heavily depends on the proficiency of the operator at present.For achieving an accurate and safe colonoscopy,the intelligent robotics is applied here for visual navigation of the colonoscopy.In this paper, a new visual navigation method for colonoscopy is described and tested,which is based on analyzing colon contours.For acquiring the precise edge energy of the colon contours,it uses steerable filters to detect the edge energy and the directions of the colon contours.Then it accumulates the edges' energy mapped in the normal directions of the edges.And by searching the area with highest accumulated energy,this method finds the center area formed by the curved contours. This method is designed to assist the visual navigation based on dark area analysis for reducing the possibility of navigation failure,which may be caused by the unsteadiness of the dark area.Some experimental results have demonstrated the effectiveness of this method for the assistance to the visual navigation for colonoscopy.