Abstract
Background During percutaneous puncture robotic surgical navigation, the
needle insertion point is positioned on the patient's chest and abdomen body
surface. By locating any point on the soft skin tissue, it is difficult to
apply the traditional reflective ball tracking method. The patient's chest and
abdomen body surface has fluctuations in breathing and appears irregular. The
chest and abdomen are regular and smooth, lacking obvious features, and it is
challenging to locate the needle insertion point on the body surface. Methods
This paper designs and experiments a method that is different from previous
reflective ball optical markers or magnetic positioning surgical navigation and
tracking methods. It is based on a speckle structured light camera to identify
the patient's body surface and fit it into a hollow ring with a diameter of
24mm. Results Experimental results show that this method of the system can be
small, flexible, and high-precision positioning of any body surface point at
multiple angles, achieving a positioning accuracy of 0.033-0.563mm and an image
of 7-30 frames/s. Conclusions The positioning recognition ring material used in
this method can be well imaged under CT, so the optical positioning of the body
surface and the in vivo imaging positioning under CT can be combined to form a
unified patient's internal and external positioning world coordinates to
achieve internal and external registration. Positioning integration. The system
senses motion with six degrees of freedom, up and down, front and back, left
and right, and all rotations, with sub-millimeter accuracy, and has broad
application prospects in future puncture surgeries.

通过使用斑点结构光相机识别患者体表并将其融合到直径为 24 毫米的空心环中，该研究设计并实验了一种与传统反射球光学标记或磁定位手术导航和跟踪方法不同的方法。实验结果显示，该系统能够以多个角度精确定位任何体表点，实现了 0.033-0.563 毫米的定位精度和每秒 7-30 帧的图像。该方法的定位识别环材料在 CT 下成像效果良好，因此可以将肉眼定位和 CT 成像定位结合起来，形成统一的内外部定位世界坐标，实现内外部注册。该系统具有六个自由度的运动感知，可进行上下、前后、左右和所有旋转的亚毫米级精度，在未来穿刺手术中具有广阔的应用前景。