Surgical Instrument Positioning System Based on Binocular Vision

Surgical instrument positioning is the core component of the surgical navigation system, which determines the accuracy of the entire system. Based on the principle of binocular vision, a surgical instrument positioning system is proposed. The system uses colored balls as markers. First, the colored ball area is extracted through color segmentation, then the center coordinates of the markers in the left and right images are obtained through the proposed algorithm based on connected domain extraction and centroid calculation. The algorithm first extracts the connected domain in the image, excludes the non-marker areas by the area of the connected domain, and then calculates the center of the connected domain using the centroid formula. Next, the left and right centers are matched based on spatial position, and the centers' three-dimensional coordinates are obtained through three-dimensional reconstruction. Finally, the three-dimensional coordinates of the surgical instrument tip are indirectly obtained through the center 3D coordinates. The stability and accuracy tests were carried out for the system, the results show that the system has good stability and accuracy.