【摘要】 手术机器人在内窥手术中发挥了越来越重要的作用，其显示系统为医生提供了关键的视觉信息。手术机器人的显示系统往往由两个独立的显示器组成，其图像由内窥镜头和显示器共同决定，而且其封装结构也给显示效果的测量与评价带来了阻碍。本文提出了一种基于双目相机结构的手术机器人视觉深度的测量系统和评价方法，棋盘格和双球连杆作为校准工具。首先，利用张氏标定法定标双目相机内外参数；然后，利用棋盘格调整内窥镜头以及相机位置以保证姿态正确；再然后，在内窥镜头不同的工作距离下对不同旋转角度的双球连杆成像;最后，利用球心识别算法识别双球球心的空间坐标，并计算出双球球心的视觉深度差。结果表明，本系统能够很好地测量出视觉深度，且同一个工作距离下，球心视觉深度差与球心实际深度差满足线性规律，其斜率是视觉深度差的放大系数。提出的测量和评价方法具有很高的可行性，能够为手术机器人显示系统的优化提供可靠依据。更多还原

【Abstract】 Surgical robots play an increasingly important role in endoscopic surgery, with their display systems providing critical visual information to surgeons. The display system of surgical robots often consists of two independent monitors.The images displayed are jointly determined by the endoscopic lens and the monitors themselves. Additionally, the encapsulated structure poses challenges for measuring and evaluating the visual display performance. This study proposes a measurement system and evaluation method based on a binocular camera structure for assessing the visual depth in surgical robot displays, using a checkerboard and a double-sphere connecting rod as calibration tools. First, the internal and external parameters of the parallel binocular cameras are calibrated. Then, the checkerboard is used to adjust the endoscopic lens of the surgical robot and the cameras to ensure correct positioning. Next, the double-sphere connecting rod is imaged at different working distances of the endoscopic lens and under various rotation angles. Finally, a sphere center recognition algorithm is used to obtain the spatial coordinates of the double spheres and calculate the visual depth difference between the centers of the two spheres. The results show that the system can effectively measure visual depth. Moreover, at the same working distance, the visual depth difference between the sphere centers follows a linear relationship with the actual depth difference, where the slope represents the magnification factor of the visual depth difference. The proposed measurement and evaluation method demonstrates high feasibility and can provide a reliable basis for optimizing the display system of surgical robots.更多还原