LAUSR

In view of the problem that the doctor cannot quickly obtain the three-dimensional information of the liver surface during the traditional open resection of liver tumor without radiation, a new three-dimensional reconstruction system of liver surface based on binocular structured light is proposed in this paper to obtain three-dimensional information of liver surface rapidly. The hardware construction and software module design of the three-dimensional reconstruction system of the liver surface are carried out. The multi-frequency heterodyne method is proposed to solve the problem of the lack of three-dimensional reconstruction of the liver surface. A GPU-CPU collaborative acceleration method is proposed to speed up the three-dimensional reconstruction of intraoperative liver surface. On this basis, a human respiratory platform is built to simulate the effect of human respiration on three-dimensional reconstruction of the liver surface in a real surgical environment. The accuracy and speed of the system are verified by the liver experiments: The errors of three-dimensional reconstruction of liver surface at expiratory peak and inspiratory peak are 0.78 ± 0.18mm and 0.92 ± 0.21 mm, respectively. The average time required for three-dimensional reconstruction of liver surface based on GPU-CPU collaborative calculation is 3.93s. The speed of three-dimensional reconstruction of liver surface based on GPU-CPU collaborative calculation is 52% faster than that of three-dimensional reconstruction of liver surface based on CPU. It can be seen that the system has high accuracy and fast speed, which can meet the basic needs of the doctor in surgery.