Three-Dimensional Surgical Needle Localization and Tracking Using Stereo Endoscopic Image Streams.
IEEE Int Conf Robot Autom
; 2018: 6617-6624, 2018 May.
Article
em En
| MEDLINE
| ID: mdl-34075324
ABSTRACT
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.
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Coleções:
01-internacional
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MEDLINE
Idioma:
En
Ano de publicação:
2018
Tipo de documento:
Article