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3-D Pose Estimation of Articulated Instruments in Robotic Minimally Invasive Surgery

M. Allan, S. Ourselin, D. J. Hawkes, J. D. Kelly, D. Stoyanov
2018 IEEE Transactions on Medical Imaging  
Estimating the 3D pose of instruments is an important part of robotic minimally invasive surgery (RMIS) for automation of basic procedures as well as providing safety features such as virtual fixtures.  ...  In this work we extend our recent work in estimating rigid 3D pose with silhouette and optical flow based features to incorporate the articulated degrees of freedom (DOF) of robotic instruments within  ...  INTRODUCTION Minimally invasive surgery (MIS) has provided surgeons with a less invasive method of accessing the surgical site with a cost of having less control and information about the operation compared  ... 
doi:10.1109/tmi.2018.2794439 pmid:29727283 fatcat:ob73nghd6vfwnchrhlipxy6mra

2D-3D Pose Tracking of Rigid Instruments in Minimally Invasive Surgery [chapter]

Max Allan, Steve Thompson, Matthew J. Clarkson, Sébastien Ourselin, David J. Hawkes, John Kelly, Danail Stoyanov
2014 Lecture Notes in Computer Science  
Instrument localization and tracking is an important challenge for advanced computer assisted techniques in minimally invasive surgery and image-based solutions to instrument localization can provide a  ...  In this study, we present a novel algorithm capable of recovering the 3D pose of laparoscopic surgical instruments combining constraints from a classification algorithm, multiple point features, stereo  ...  Introduction Image-based instrument tracking and localization has important applications in computer assisted interventions (CAI) and in robotic minimally invasive surgery (RMIS).  ... 
doi:10.1007/978-3-319-07521-1_1 fatcat:ftnjciancrdvzodweky6iul7xy

Contour-based surgical instrument tracking supported by kinematic prediction

C. Staub, C. Lenz, G. Panin, A. Knoll, R. Bauernschmitt
2010 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics  
Surgical tool tracking is an important key functionality for many high-level tasks in both robot-assisted and conventional minimally invasive surgery.  ...  In contrast, robotic systems provide angular informations from encoder readings that allow for a sufficient pose estimation and initialization of an image-based tracking algorithm.  ...  INTRODUCTION In the last years, robot-assisted minimally invasive surgery (MIS) has attracted many researches and significant efforts have been made in the development of surgery systems and instruments  ... 
doi:10.1109/biorob.2010.5628075 fatcat:zb7a7slbkff3tbpit2w4nhdlny

Combined 2D and 3D tracking of surgical instruments for minimally invasive and robotic-assisted surgery

Xiaofei Du, Maximilian Allan, Alessio Dore, Sebastien Ourselin, David Hawkes, John D. Kelly, Danail Stoyanov
2016 International Journal of Computer Assisted Radiology and Surgery  
Purpose Computer-assisted interventions for enhanced minimally invasive surgery (MIS) require tracking of the surgical instruments.  ...  Instrument tracking is a challenging problem in both conventional and robotic-assisted MIS, but visionbased approaches are a promising solution with minimal hardware integration requirements.  ...  Max Allan would like to acknowledge the financial support of the Rabin Ezra foundation as well as EPSRC funding for DTP in Medical and Biomedical Imaging at University College London.  ... 
doi:10.1007/s11548-016-1393-4 pmid:27038963 pmcid:PMC4893384 fatcat:wn2feqvsk5h4ffpd3cyp2hy4qm

A Novel Robotic System for Single-port Urologic Surgery: First Clinical Investigation

Jihad H. Kaouk, Georges-Pascal Haber, Riccardo Autorino, Sebastien Crouzet, Adil Ouzzane, Vincent Flamand, Arnauld Villers
2014 European Urology  
The authors had full control of study design, methods used, outcome parameters and results, analysis of the data, and production of the written report.  ...  However, the introduction of this purpose-built instrumentation has represented a minimal step forward in the field of robotic single-incision surgery.  ...  to nephrectomy or partial nephrectomy Suitable for minimally invasive prostate cancer surgery Suitable for minimally invasive kidney surgery Able to tolerate Trendelenburg position Willingness to  ... 
doi:10.1016/j.eururo.2014.06.039 pmid:25041850 fatcat:lmzhxufwzbd6plztbrxgpnueua

Automatic Instrument Segmentation in Robot-Assisted Surgery using Deep Learning

Alexey A. Shvets, Alexander Rakhlin, Alexandr A. Kalinin, Vladimir I. Iglovikov
2018 2018 17th IEEE International Conference on Machine Learning and Applications (ICMLA)  
One of the main challenges is to correctly detect an instrument's position for the tracking and pose estimation in the vicinity of surgical scenes.  ...  Semantic segmentation of robotic instruments is an important problem for the robot-assisted surgery.  ...  Acknowledgments Authors thank Evgeny Nizhibitsky, Alexander Buslaev, and the rest of Open Data Science community ( for useful suggestions and other help aiming to the development of this work.  ... 
doi:10.1109/icmla.2018.00100 dblp:conf/icmla/ShvetsRKI18 fatcat:mf3thxvqcbdppgbcmfaggzlwfm

Segmentation and Guidance of Multiple Rigid Objects for Intra-operative Endoscopic Vision [chapter]

C. Doignon, F. Nageotte, M. de Mathelin
2007 Lecture Notes in Computer Science  
With this minimally invasive surgical technique, every single instrument has to pass through an insertion point in the abdominal wall and is mounted on the end-effector of a surgical robot which can be  ...  This paper presents an endoscopic vision framework for modelbased 3D guidance of surgical instruments used in robotized laparoscopic surgery.  ...  particularly for the minimally invasive surgery, as it is for the laparoscopic surgery.  ... 
doi:10.1007/978-3-540-70932-9_24 fatcat:jjro44toyffjliqrobcuib3hc4

Tension propagation analysis of novel robotized surgical platform for transumbilical single-port access surgery

Jongwon Lee, Yong-Jae Kim, Se-gon Roh, Jiyoung Kim, Younbaek Lee, Jeonghun Kim, Byungjune Choi, Kyoungsik Roh
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, tension propagation analysis of a newly designed multi-DOF robotic platform for single-port access surgery (SPS) is presented.  ...  instrument joints, and 3) bending of hyper-redundant guide tube.  ...  INTRODUCTION Laparoscopic surgery, also called minimally invasive surgery (MIS), is a surgical technique in which operations in the abdomen are performed through small incision as opposed to the larger  ... 
doi:10.1109/iros.2013.6696793 fatcat:af3obpxaofe75enckmeksk4y3e

Hand-eye calibration for robotic assisted minimally invasive surgery without a calibration object

Krittin Pachtrachai, Max Allan, Vijay Pawar, Stephen Hailes, Danail Stoyanov
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Such approaches achieve good accuracy for general use but for applications such as robotic assisted minimally invasive surgery, acquiring a calibration sequence multiple times during a procedure is not  ...  In a robot mounted camera arrangement, handeye calibration estimates the rigid relationship between the robot and camera coordinate frames.  ...  ACKNOWLEDGEMENT We would like to thank Simon Di Maio and Mahdi Azizian at Intuitive Surgical, CA for providing us with CAD models of the instrument and the DVRK community for their support.  ... 
doi:10.1109/iros.2016.7759387 dblp:conf/iros/PachtrachaiAPHS16 fatcat:ruuzhuu6jvggnohx4q44bymb4i

Single incision laparoscopic surgery in gynecology: Evolution, current trends, and future perspectives

Bernard Su Min Chern, Smita Lakhotia, Chong Kiat Khoo, Anthony Yew Ming Siow
2012 Gynecology and Minimally Invasive Therapy  
Minimally invasive surgery has become the standard of care for different procedures in various subspecialties.  ...  The ongoing and continuous efforts to decrease morbidity and improve cosmesis from laparoscopic surgery has led to minimization in number and size of ports required for these procedures.  ...  Advances in surgical instrumentation and design have allowed minimal-access surgery to become even more minimal. 4e6 One of the more recent advances in the field of minimally invasive surgery is the increasing  ... 
doi:10.1016/j.gmit.2012.08.005 fatcat:e6cd7niiqvclrjvg3z3xbbp3qq

Automatic Instrument Segmentation in Robot-Assisted Surgery Using Deep Learning [article]

Alexey Shvets, Alexander Rakhlin, Alexandr A. Kalinin, Vladimir Iglovikov
2018 bioRxiv   pre-print
One of the main challenges is to correctly detect an instrument's position for the tracking and pose estimation in the vicinity of surgical scenes.  ...  Semantic segmentation of robotic instruments is an important problem for the robot-assisted surgery.  ...  Introduction Research in robotics promises to revolutionize surgery towards safer, more consistent and minimally invasive intervention [ , ] .  ... 
doi:10.1101/275867 fatcat:qd67bzuv2ngxppevbzw7rdm6om

Robotic Surgery for Non-Small Cell Lung Cancer [chapter]

Andrew X. Li, Justin D. Blasberg
2021 Lung Cancer - Modern Multidisciplinary Management  
associated with robotic articulating instruments.  ...  In this chapter, we will explore the advantages and disadvantages of robotic-assisted surgery for NSCLC and discuss the implications for increased adoption of minimally invasive surgery in the future of  ...  More recently, an estimated 17.5% of lobectomies were performed robotically in 2017 [15] .  ... 
doi:10.5772/intechopen.95816 fatcat:v3pjydj7sba37p7jc4f6zfk47m

Articulated Multi-Instrument 2-D Pose Estimation Using Fully Convolutional Networks

Xiaofei Du, Thomas Kurmann, Ping-Lin Chang, Maximilian Allan, Sebastien Ourselin, Raphael Sznitman, John D. Kelly, Danail Stoyanov
2018 IEEE Transactions on Medical Imaging  
In this paper, we propose a deep neural network for articulated multi-instrument 2D pose estimation, which is trained on a detailed annotations of endoscopic and microscopic datasets.  ...  Instrument detection, pose estimation and tracking in surgical videos is an important vision component for computer assisted interventions.  ...  R OBOTIC surgery systems, such as the da Vinci ® (Intuitive Surgical Inc, CA), have introduced a powerful platform for articulated instrument control in minimally invasive surgery (MIS) through tele-operation  ... 
doi:10.1109/tmi.2017.2787672 pmid:29727290 pmcid:PMC6051486 fatcat:pubjor5rlbgapou2m4bwt37bqi

Comparative evaluation of instrument segmentation and tracking methods in minimally invasive surgery [article]

Sebastian Bodenstedt, Max Allan, Anthony Agustinos, Xiaofei Du, Luis Garcia-Peraza-Herrera, Hannes Kenngott, Thomas Kurmann, Beat Müller-Stich, Sebastien Ourselin, Daniil Pakhomov, Raphael Sznitman, Marvin Teichmann, Martin Thoma, Tom Vercauteren (+5 others)
2018 arXiv   pre-print
Intraoperative segmentation and tracking of minimally invasive instruments is a prerequisite for computer- and robotic-assisted surgery.  ...  The paper presents a comparative validation study of different vision-based methods for instrument segmentation and tracking in the context of robotic as well as conventional laparoscopic surgery.  ...  In the conventional laparoscopic setting, tracking would also be improved by merging results, though this was not the case in the robotic setting, as one method tracked a different part of the instruments  ... 
arXiv:1805.02475v1 fatcat:hagoe34yfzdd7drq5f5fmhkdqa

Advancement of Flexible Robot Technologies for Endoluminal Surgeries

Joonhwan Kim, Michel de Mathelin, Koji Ikuta, Dong-Soo Kwon
2022 Proceedings of the IEEE  
This article covers the key technical issues in flexible surgical robotics, such as manipulator design, modeling, and control, and it introduces emerging flexible technologies organized according to their  ...  target application in the endoluminal surgical field.  ...  survey on key technical issues and flexible robot systems.  ... 
doi:10.1109/jproc.2022.3170109 fatcat:72kuf22csfgptbygasoj63z7xq
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