Three-Dimensional Surgical Needle Localization and Tracking Using Stereo Endoscopic Image Streams
| Autor: | Russell C. Jackson, Orhan Ozguner, Wyatt S. Newman, Ran Hao, M. Cenk Cavusoglu, Tom Shkurti |
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| Rok vydání: | 2018 |
| Předmět: |
Robot kinematics
Needle localization Endoscope Computer science business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION technology industry and agriculture Image segmentation Article Endoscopic camera 030218 nuclear medicine & medical imaging Rendering (computer graphics) 03 medical and health sciences 0302 clinical medicine 030220 oncology & carcinogenesis Robot Computer vision Artificial intelligence business ComputingMethodologies_COMPUTERGRAPHICS Endoscopic image |
| Zdroj: | ICRA IEEE Int Conf Robot Autom |
| DOI: | 10.1109/icra.2018.8460867 |
| Popis: | This paper presents algorithms for three-dimensional tracking of surgical needles using the stereo endoscopic camera images obtained from the da Vinci(®) Surgical Robotic System. The proposed method employs Bayesian state estimation, computer vision techniques, and robot kinematics. A virtual needle rendering procedure is implemented to create simulated images of the surgical needle under the da Vinci(®) robot endoscope, which makes it possible to measure the similarity between the rendered needle image and the real needle. A particle filter algorithm using the mentioned techniques is then used for tracking the surgical needle. The performance of the tracking is experimentally evaluated using an actual da Vinci(®) surgical robotic system and quantitatively validated in a ROS/Gazebo simulation thereof. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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