Hardware design and implementation of binocular vision system for a medical robot

[1] Claron Technology Inc. MicronTracker Developer's Manual:MTC3[EB/OL].[2012-10-01].http://www.clarontech.com. [2] Northern Digital Inc. Polaris Spectra Tool Kit Guide[EB/OL].[2012-09-16].http://www.ndigital.com. [3] 熊健斌, 赵劲民, 沙轲, 等. 计算机导航技术在后交叉韧带重建胫骨隧道定位中的应用[J]. 中国组织工程研究与临床康复, 2011, 15(17):3139-3142. XIONG J B, ZHAO J M, SHA K, et al.. Application of computer navigation system in tibial tunnel positioning during reconstruction of posterior cruciate ligament[J]. Zhongguo Zuzhi Gongcheng Yanjiu yu Linchuang Kangfu, 2011, 15(17):3139-3142.(in Chinese) [4] 于乃功, 马春燕, 林佳. 基于双目视觉的关键点的检测方法及定位研究[J]. 计算机测量与控制, 2011, 19(7):1565-1568. YU N G, MA CH Y, LIN J. Study on key point detection and localization based on binocular vision[J]. Computer Measurement Control, 2011, 19(7):1565-1568.(in Chinese) [5] 尚倩, 阮秋琦, 李小利. 双目立体视觉的目标识别与定位[J]. 智能系统学报, 2011, 6(4):303-310. SHANG Q, RUAN Q Q, LI X L. Target recognition and location based on binocular stereo vision[J]. CAAI Transactions on Intelligent Systems, 2011, 6(4):303-310.(in Chinese) [6] 武学梅, 刘奇. 基于立体视觉的手术导航光学定位系统[J]. 中国组织工程研究与临床康复, 2011, 15(35):6584-6586. WU X M, LIU Q. Optical localizer of surgical navigation system based on binocular stereo vision[J]. J. Clinical Rehabilitative Tissue Eng. Research, 2011, 15(35):6584-6586.(in Chinese) [7] 王刚, 卿粼波, 滕奇志. 基于嵌入式平台的实时双目视觉测量系统[J]. 通信技术, 2011, 44(10):55-60. WANG G, QING L B, TENG Q ZH. Binocular vision and real-time measure system based on embedded system[J]. Communications Technology, 2011, 44(10):55-60. (in Chinese) [8] 尤波, 李楠, 沈爱华, 等. 基于双目立体视觉技术的轮式机器人位姿测量方法研究[J]. 机械设计与制造, 2011, (8):173-175. YOU B, LI N, SHEN A H, et al.. Study of position and posture measuring method for wheeled robot based on binocular stereo vision technique[J]. Machinery Design Manufacture, 2011, (8):173-175.(in Chinese) [9] 许允喜, 蒋云良, 陈方. 基于2D-3D双目运动估计的立体视觉定位算法[J]. 光电工程, 2011, 38(9):104-109. XU Y X, JIANG Y L, CHEN F. Stereo visual localization algorithm based on 2D-3D binocular motion estimation[J]. Opto-Electronic Eng., 2011, 38(9):104-109. (in Chinese) [10] 秦大辉, 毛婷, 刘建军. 基于双目立体视觉的手持式光笔三坐标测量系统[J]. 制造技术与机床, 2011(8):133-136. QIN D H, MAO T, LIU J J. Study on 3D-coordinate measurement technology using handhold light-pen based on binocular stereoscopic vision system[J]. Manufacturing Technology Machine Tool, 2011(8):133-136.(in Chinese) [11] 刘钧, 高明.光学设计[M]. 西安:西安科技大学出版社, 2006:164-184. LIU J, GAO M. Optical Design[M]. Xi'an:Xidian University Press, 2006:164-184.(in Chinese) [12] 李晓彤, 岑兆丰.几何光学·像差·光学设计[M]. 杭州:浙江大学出版社, 2007:231-254. LI X T, CEN ZH F. Geometrical Optics, Aberrations and Optical Design[M]. Hangzhou:Zhejiang University Press, 2007:231-254.(in Chinese) [13] 李蕊, 刘永基, 王肇圻. 基于个体眼光学结构的波前眼镜设计[J]. 中国光学, 2012, (5):512-519. LI R, LIU Y J, WANG ZH Q. Design of wavefront-guided lens based on individual eye optical model[J]. Chinese Optics, 2012, (5):512-519.(in Chinese) [14] 李林, 黄一帆, 应用光学概念题解与自测[M]. 北京:北京理工大学出版社, 2006. LI L, HUANG Y F. Yingyun guangxue gainian tijie yu zice[M]. Beijing:Beijing Institute of Technology Press, 2006.(in Chinese) [15] Shanghai Yinrui Information Technology Co., Ltd.. the Product Center for FA Lens of KOWA[EB/OL].[2013-05-14]http://www.yinrui.net/product.asp?id=3&pid=102. [16] Shanghai Yinrui Information Technology Co., Ltd.. the Product Manual of LM6NCM Lens[EB/OL].[2013-05-14].http://www.yinrui.net/pdf/kowa/LM6NCM.pdf. [17] 梁祖厚.数字照相机[M]. 上海:上海科学技术文献出版社, 2001:28-37. LIANG Z H. Digital Camera[M]. Shanghai:Shanghai Scientific and Technological Literature Publishing House, 2001:28-37.(in Chinese) [18] 刘禾.数字图像处理及应用[M].中国电力出版社, 2006:27-61. LIU H. Digital Image Processing and Application[M]. China Electric Power Press, 2006:27-61.(in Chinese) [19] China Daheng Group, Inc. DH-SV1420FC/FM digital camera instruction manual..http://www.daheng-image.com. [20] Hartley Zisserman. Multiple View Geometry in Computer Vision[M].New York:Cambridge University Press, 2000:237-360. [21] 全燕鸣, 黎淑梅, 麦青群. 基于双目视觉的工件尺寸在机三维测量[J]. 光学 精密工程, 2013, 21(4):1054-1061. QUAN Y M, LI SH M, MAI Q Q. On-machine 3D measurement of workpiece dimensions based on binocular vision[J]. Opt. Precision Eng., 2013, 21(4):1054-1061.(in Chinese) [22] 张鹏炜, 张智诠, 胡磊, 等. 一种用于外科手术导航的双目视觉简化系统[J]. 光电工程, 2009, 36(6):37-40. ZHANG P W, ZHANG ZH Q, HU L, et al.. A binocular vision simplified system for the surgical navigation[J]. Opto-Electronic Eng., 2009, 36(6):37-40.(in Chinese) [23] 谢劲冰, 胡磊, 张鹏炜. 双目视觉技术在前交叉韧带重建手术导航系统中的应用[J]. 中国组织工程研究与临床康复, 2008, 12(59):10297-10300. XIE J B, HU L, ZHANG P W. Application of binocular vision technology in cruciate ligament surgical system[J]. J. Clinical Rehabilitative Tissue Eng. Research, 2008, 12(59):10297-10300.(in Chinese) [24] 田丰, 汪浩, 夏雪. 基于视觉的触控系统标定方法[J]. 液晶与显示, 2013, 28(4):561-566. TIAN F, WANG H, XIA X. Calibration method for vision-based touch system[J]. Chinese J. Liquid Crystals and Displays, 2013, 28(4):561-566.(in Chinese) [25] 唐巍, 叶东, 袁峰, 等. 灰色关联分析方法在双目视觉测量系统误差分析中的应用[J]. 光学 精密工程, 2013, 21(2): 503-513. TANG W, YE D, YUAN F, et al.. Grey incidence analytic method to error analysis of binocular vision measurement system[J]. Opt. Precision Eng., 2013, 21(2):503-513.(in Chinese) [26] 黄新民, 申静, 任亚杰, 等. 基于CRT显示器的人眼彩色视觉特性数学模型研究[J]. 液晶与显示, 2013, 28(3):365-372. HUANG X M, SHEN J, REN Y J, et al.. Research mathematical model of human color vision characteristics based on CRT display[J]. Chinese J. Liquid Crystals and Displays, 2013, 28(3):365-372.(in Chinese) [27] 王晓红, 刘太庆. 基于视觉灰平衡的LCD显示器色彩校正[J]. 液晶与显示, 2013, 28(6):868-871. WANG X H, LIU T Q. Color correction of LCD displays based on visual gray balance[J]. Chinese J. Liquid Crystals and Displays, 2013, 28(6):868-871.(in Chinese) [28] 郭杰, 雷刚, 陈健生, 等. 基于机器视觉的钢包头检测系统设计[J]. 液晶与显示, 2013, 28(5):770-775. GUO J, LEI G, CHEN J SH, et al.. Design of steel toecaps inspection system based on machine vision[J]. Chinese J. Liquid Crystals and Displays, 2013, 28(5):770-775.(in Chinese) [29] 张来刚, 魏仲慧, 何昕, 等. 多约束融合算法在多摄像机测量系统中的应用[J]. 液晶与显示, 2013, 28(4):608-614. ZHANG L G, WEO ZH H, HE X, et al.. Multi-camera measurement system based on multi-constraint fusion algorithm[J]. Chinese J. Liquid Crystals and Displays, 2013, 28(4):608-614.(in Chinese)