北京生物醫(yī)學(xué)工程

一種基于FPGA的手術(shù)導(dǎo)航定位系統(tǒng)的硬件加速方法

A Hardware Acceleration Method Based on FPGA for Optical Tracking System Used in Image-Guided Surgery

作者：黨瀟李文駿丁輝王廣志

單位：清華大學(xué)生物醫(yī)學(xué)工程系（北京100084）

關(guān)鍵詞：硬件加速；光學(xué)定位跟蹤；FPGA；可編程片上系統(tǒng)；手術(shù)導(dǎo)航

分類號(hào)：

出版年·卷·期（頁(yè)碼）：2011·30·1（45-50）

摘要：

光學(xué)定位系統(tǒng)是手術(shù)導(dǎo)航設(shè)備中的核心部件，本文針對(duì)基于FPGA自行研制的紅外光學(xué)定位跟蹤系統(tǒng)設(shè)計(jì)了幾種硬件加速方法。使用SoPC作為計(jì)算單元的原有系統(tǒng)能夠達(dá)到亞毫米級(jí)別的定位精度，但是定位跟蹤速率不足，無(wú)法滿足實(shí)際應(yīng)用需求。為克服SoPC計(jì)算能力較弱的問(wèn)題，本文使用浮點(diǎn)數(shù)自定義指令集、緊密耦合寄存器 (TCM) 和多核處理等幾種硬件加速方法，使紅外光學(xué)定位跟蹤系統(tǒng)的三維重建速度獲得了明顯的提升，實(shí)驗(yàn)數(shù)據(jù)表明速度提升18倍。硬件加速之后的系統(tǒng)性能可以支持高達(dá)32個(gè)標(biāo)志點(diǎn)以60fps幀率進(jìn)行的實(shí)時(shí)定位和跟蹤，滿足手術(shù)導(dǎo)航系統(tǒng)對(duì)運(yùn)動(dòng)跟蹤速率的要求。

Optical tracking system is the core component of image-guided surgical navigation,this paper presents several hardware accelerating methods used in a infrared optical tracking system,which was developed by our team,based on field programmable gate array (FPGA).The original tracking system has achieved a location accuracy of submillimeter with SoPC as its computation unit,but had an insufficient tracking speed,which was not able to satisfy the practical application.In order to overcome the lack of computation ability on SoPC,with hardware accelerating methods,which are floating-point custom instruction,tightly coupled memory (TCM) and multiprocessor,calculating speed of 3D reconstruction gained a significant promotion of 18 times according to the experiment results.The hardware acceleration and its performance could theoretically support up to 32 markers real-time location maintaining a frame rate of 60fps.This meets the rate requirement of motion tracking in image-guided surgical navigation.

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