In this research, we aim to establish a method of real-time high accuracy endoscopic image overlay of the tip of surgical instruments for control of a forceps robot. In general, the relationship between the position of an object in the three-dimensional space and its projection onto the camera image can be represented by a single camera model. However, the closer an endoscope gets to surgical instruments, the larger the projection error becomes. The proposed system introduces virtual multi camera models according to the distance between an endoscope and surgical instruments for alleviating the projection error.
"},{"@language":"ja","@value":"現在，内視鏡手術においてマスタ・スレーブ方式のロボットを用いたロボット手術が普及しており，手振れの抑制や自由自在な操作が行えるため普段以上の能力を発揮することが可能となっている．しかし，操作を習得するためには特殊な訓練や経験が求められており執刀医の負担が増大している．手術器具を把持したスレーブロボットが自律的に臓器への位置決めといった術中タスクを行うことが出来ればこの問題は解決できると推測する．そのためには内視鏡映像における手術器具の位置が重要な要素になってくる．現在では，画像処理を用いて手術器具先端位置の算出を行う研究がなされているが物理的な手術器具の先端を正確に求めることは困難であり，臓器と接触しない内視鏡把持ロボットの制御には有効であるものの，より正確性が求められる手術器具把持ロボットの制御には適していない．本研究では，三次元計測装置を用いて手術器具先端の位置を高精度に内視鏡映像に合成する方法の確立を目的とする．一般的には三次元空間中の物体の位置とカメラの画像上での位置の関係は一つのカメラモデルで表現することが可能であると知られている．しかし，対象に近接して使用することが多い内視鏡映像においては，手術器具と内視鏡間の距離が近くなるにつれて，投影誤差が大きくなる．そのため仮想的に手術器具との距離に応じたカメラモデルを複数導入することで誤差の軽減を行い，その結果について報告する．
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