ACESO: Computer Vision Algorithms for Computer-Assisted Surgical Systems

几何摄像机标定是任何使用光学传感器的视觉系统的基本部分。它定义了一个相机模型，表示3D世界和2D图像平面之间的投影变换。由于变换的投影性，微小的校准误差会转化为世界坐标空间中的重大误差，这可能会对视觉系统的精度和性能产生不利影响。本提案中的工作旨在开发解决方案，以提高多摄像机系统的校准精度，该多摄像机系统是我们的行业合作伙伴Think Surgical Inc.开发、制造和销售的用于骨科手术的主动机器人外科系统的一部分。基于Think Surgical Inc.的研究人员进行的初步调查，建议的研究方法是开发新的算法，用于(I)校准多摄像机系统，(Ii)在存在闭塞的情况下检测和跟踪标记和手术器械，(Iii)重建手术器械的3D位置，该项目将促进3名HQP(1名博士、2名硕士、1名USRA)在视觉引导机器人手术这一前沿主题方面的培训，这是加拿大科学界和工业界非常感兴趣和受益的主题。作为该项目的一部分进行的基础研究和调查将在计算机视觉及其在医学领域的应用方面开辟新的研究方向。这一结果将使加拿大受益，因为我们预计Think Surgical Inc.将利用这些结果为其全球客户提供更准确、更快和具有全球竞争力的解决方案。

Geometric camera calibration is a fundamental part of any vision system that uses an optical sensor. It defines a camera model representing the projective transformation between the 3D world and the 2D image plane. Due to the projective nature of the transformation, minor calibration errors translate into significant errors in the world coordinate space, which can have a detrimental effect on the vision system's accuracy and performance. The work in this proposal aims to develop solutions that improve the accuracy of the calibration of a multi-camera system that is part of an active robotic surgical system for orthopaedic surgery developed, manufactured and marketed by our industry partner, THINK Surgical Inc. Based on preliminary investigations carried out by THINK Surgical Inc's researchers the proposed research methodology is to develop new algorithms for (i) calibrating the multi-camera system, (ii) detecting and tracking of markers and surgical instruments in the presence of occlusions, (iii) reconstructing in 3D the location of the surgical instruments, and to develop new measures and metrics appropriate for the (iv) evaluation of each component.The project will facilitate the training of 3 HQPs (1 Ph.D., 2 Masters, 1 USRA) in the cutting edge topic of vision-guided robotic surgery, which is of great interest and benefit to the Canadian scientific and industrial communities. The fundamental research and investigations carried out as part of this project will open new research directions in computer vision and its use within the medical context. The results will benefit Canada, as we anticipate that THINK Surgical Inc will use them to provide more accurate, faster and globally competitive solutions to its clients worldwide.