【作者】 孟龙晖；

【导师】 戴振东；

【作者基本信息】 南京航空航天大学 ， 机械工程， 2011， 硕士

【摘要】 由于机器人的结构设计复杂、造价高以及其受到的能量瓶颈的限制,针对机器人的这些种种缺点,动物机器人将受到越来越多的关注。研发动物机器人的关键在于在动物脑的特定核团处植入微电极,此前必须对动物的脑结构有较好的了解,对特定核团的具体位置有一个较好的把握。本实验室研究的是大壁虎动物机器人。本文的主要工作是对大壁虎脑切片图像进行分割、配准以及三维重建,为研发壁虎机器人提供参考数据。对大壁虎的脑进行研究选用传统的切片法。对大壁虎脑进行石蜡切片,经过染色,最终进行数据采集,操作过程将在第二章中进行介绍。接下来对脑切片图像的不同皮层区域进行分割,在第三章中将介绍一种基于YCbCr空间的分割方法,针对于脑图谱本身的一些特点选择这样的分割方法,避免了传统手工绘制进行分割时带来的诸多弊端,而且解决了拍照时光线的变化所带来的问题,分割完全,效果好。第四章将对这些图谱进行配准,在此将介绍一种基于像素投影的图像配准新方法,此配准方法效率较高。接着对这些图谱进行三维重建,不仅仅还原出脑的外部形状,而且也反映脑内有关核团的立体模式,为深人探讨其脑功能及微电极植入提供形态学依据。本课题着重研究了数字图像处理方法在脑切片图像分割及配准方面的应用,寻找出一种有效的区域阈值分割方法以及像素投影的配准方法。实验表明分割彻底,配准精度较高,三维重建的立体图像逼真。脑内结构的计算机重建图像可从多个角度进行观察,为脑的立体定向研究及微电极的植入提供重要参考数据。更多还原

【Abstract】 As robot’s structural design is complex, the cost is very high and the energy taked by itself is very limited, as these shortcomings of mechanical robot, bio-robot will receive more and more attention.The key to make bio-robots is to insert electrodes into relevant region of the animal’s brain. So, first of all, we need to be familiar with the animal’s brain, locate the relevant region of the animal’s brain.Our laboratory use gekko gecko to make bio-robots. The main job in this article is to segment and register the atlas images, and then 3-D reconstruct the brain atlas to provide reliable date for making bio-robots.We use a conventional method to do some study on gekko gecko’s brain, which is brain slices. First, cut the gekko gecko’s brain into slices, stain the slices, and photograph the slices into brain slices images, the process of these operations will be introduced in Chapter 2. Next, deal with the brain slices images, segment the different cortical regions, in Chapter 3, a segmentation based on YCbCr space will be introduced, for some characteristics of the brain atlases themselves, this method has taken the place of the artificial method, also it has solved the problem of changing lights when photographing, its segmentation is completed, and the result is very good. In Chapter 4, a registering method based on picture elements’projection will be introduced, the method has its own advantages in efficiency. After this work, 3-D reconstruct the slices images, not only return to the shape of the brain, but also the inner structure of the brain, so we can see the structure inside the brain, and it will provide trustworthy data for inserting the electrodes.The main point in this article is using the method of processing digital images in processing the gekko gecko’s brain atlas image. An effective region threshold segmentation method and an image registering method based on elements’projection are proposed. The results have shown that the segmentation is complete, the registering is accurate, and the 3-D reconstruction image is lifelike. The inner structure of the brain can be viewed in any angle. It has made a good preparation for studying more about the gekko gecko’s brain and inserting electrodes.更多还原