Abstract：
The technology of robot-assisted prostate seed implantation has developed rapidly. However, during the process, there are some problems to be solved, such as non-intuitive visualization effects and complicated robot control. To improve the intelligence and visualization of the operation process, a voice control technology of prostate seed implantation robot in augmented reality environment was proposed. Initially, the MRI image of the prostate was denoised and segmented. The three-dimensional model of prostate and its surrounding tissues was reconstructed by surface rendering technology. Combined with holographic application program, the augmented reality system of prostate seed implantation was built. An improved singular value decomposition three-dimensional registration algorithm based on iterative closest point was proposed, and the results of three-dimensional registration experiments verified that the algorithm could effectively improve the three-dimensional registration accuracy. A fusion algorithm based on spectral subtraction and BP neural network was proposed. The experimental results showed that the average delay of the fusion algorithm was 1.314 s, and the overall response time of the integrated system was 1.5 s. The fusion algorithm could effectively improve the reliability of the voice control system, and the integrated system could meet the responsiveness requirements of prostate seed implantation.
摘要：
机器人辅助前列腺粒子植入技术发展迅速。然而,在这个过程中,有一些问题需要解决，如非直观的可视化效果和复杂的机器人控制。提高作业过程的智能化和可视化,提出了一种增强现实环境下前列腺种子植入机器人的语音控制技术。最初，对前列腺的MRI图像进行去噪和分割。通过表面绘制技术重建前列腺及其周围组织的三维模型。结合全息应用程序，构建了前列腺粒子植入的增强现实系统。提出了一种改进的基于迭代最近点的奇异值分解三维配准算法,三维配准实验结果验证了该算法能有效提高三维配准精度。提出了一种基于谱减法和BP神经网络的融合算法。实验结果表明,融合算法的平均时延为1.314s,融合算法可有效提高语音控制系统的可靠性,集成系统可以满足前列腺粒子植入的反应性要求。
