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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  ...  Most hand-eye calibration techniques use a calibration object to estimate the relative transformation of the camera in several views of the calibration object and link these to the forward kinematics of  ...  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

Magneto-Optical Tracking of Flexible Laparoscopic Ultrasound: Model-Based Online Detection and Correction of Magnetic Tracking Errors

M. Feuerstein, T. Reichl, J. Vogel, J. Traub, N. Navab
2009 IEEE Transactions on Medical Imaging  
) Problem Statement • Laparoscopic ultrasound transducers are commonly localized by electromagnetic tracking systems • Electromagnetic tracking is susceptible to ferromagnetic or electrically powered objects  ...  in its close vicinity, causing erroneous measurements due to field distortions • Current approaches for detection or correction of field distortion are only applicable to static distortions or rigid instruments  ...  <RigS> can be rigidly connected to <RigB> thanks to a prior hand-eye calibration [6] in a distortionfree environment. [ 1 ] 1 Kindratenko, A survey of electromagnetic position tracker calibration techniques  ... 
doi:10.1109/tmi.2008.2008954 pmid:19211352 fatcat:ocnzf2oal5hidme5vlemcq4jsq

Gaze Contingent Depth Recovery and Motion Stabilisation for Minimally Invasive Robotic Surgery [chapter]

George P. Mylonas, Ara Darzi, Guang-Zhong Yang
2004 Lecture Notes in Computer Science  
The introduction of surgical robots in minimally invasive surgery has allowed enhanced manual dexterity through the use of microprocessor controlled mechanical wrists.  ...  The high degree of freedom offered by robotic surgery, however, can introduce the problems of complex instrument control and hand-eye coordination.  ...  Acknowledgements The authors would like to thank Paramate Horkaew and Mohamed ElHelw for their valuable help.  ... 
doi:10.1007/978-3-540-28626-4_38 fatcat:ihj6xihrlzhqpo33553omlpota

Autonomous High Precision Positioning of Surgical Instruments in Robot-Assisted Minimally Invasive Surgery under Visual Guidance

Christoph Staub, Alois Knoll, Takayuki Osa, Robert Bauernschmitt
2010 2010 Sixth International Conference on Autonomic and Autonomous Systems  
Despite the fact that minimally invasive robotic surgery provides many advantages for patients, complex tasks are still time-consuming, error-prone and lead to quicker fatigue of the surgeon.  ...  Combining both approaches to a switching scheme allows for autonomous high precision positing of surgical instruments in a complex setup with four robots.  ...  Fortunately, hand-eye calibration is a well-known problem in robotics [12] .  ... 
doi:10.1109/icas.2010.18 dblp:conf/icas/StaubKOB10 fatcat:lmfy2rdgqfha5ar2cmabchadja

Marker-less Real Time Intra-Operative Camera and Hand-Eye CalibrationProcedure for Surgical Augmented Reality

megha kalia, Prateek Mathur, Nassir Navab, Tim Salcudean
2019 Healthcare technology letters  
To evaluate the hand-eye calibration, 5 subjects carried out the hand-eye calibration procedure on a da Vinci robot.  ...  Accurate medical Augmented Reality (AR) rendering requires two calibrations, a camera intrinsic matrix estimation and a hand-eye transformation.  ...  Therefore, finding a suitable hand-eye calibration method for minimally invasive surgical procedures is still a challenge and thus an active area of research [9] [10] [11] .  ... 
doi:10.1049/htl.2019.0094 pmid:32038867 pmcid:PMC6952262 fatcat:crytmxed45abtipvlomq5jhb44

Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector

Mahdi Tavakoli, Rajni Patel, Mehrdad Moallem
2005 International Journal of Medical Robotics and Computer Assisted Surgery  
A major deficiency is the lack of haptic feedback to the surgeon. In this paper, the benefits of haptic feedback in robot-assisted surgery are discussed.  ...  A novel robotic end-effector is then described that meets the requirements of endoscopic surgery and is sensorized for force/ torque feedback.  ...  While some research is underway to develop tactile sensors for minimally invasive surgery (33) , the lack of a human-robot interface that effectively displays cutaneous stimuli to the hand is a significant  ... 
doi:10.1581/mrcas.2005.010205 fatcat:23xrv46wozerdig4h3wlawcj5m

Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector

M Tavakoli, R V Patel, M Moallem
2005 International Journal of Medical Robotics and Computer Assisted Surgery  
A major deficiency is the lack of haptic feedback to the surgeon. In this paper, the benefits of haptic feedback in robot-assisted surgery are discussed.  ...  A novel robotic end-effector is then described that meets the requirements of endoscopic surgery and is sensorized for force/ torque feedback.  ...  While some research is underway to develop tactile sensors for minimally invasive surgery (33) , the lack of a human-robot interface that effectively displays cutaneous stimuli to the hand is a significant  ... 
doi:10.1002/rcs.16 pmid:17518379 fatcat:bf2yi36zenbhtgmcopk3y5eaxu

ARssist: augmented reality on a head-mounted display for the first assistant in robotic surgery

Long Qian, Anton Deguet, Peter Kazanzides
2018 Healthcare technology letters  
In robot-assisted laparoscopic surgery, the first assistant (FA) is responsible for tasks such as robot docking, passing necessary materials, manipulating hand-held instruments, and helping with trocar  ...  to suit the FA's hand-eye coordination when operating based on endoscopy feedback.  ...  Kazanzides have a patent Augmented Reality Display for Minimally Invasive Surgery pending. 9. Conflict of interest: None declared.  ... 
doi:10.1049/htl.2018.5065 pmid:30800322 pmcid:PMC6372092 fatcat:wivqkbrrmbbbdeze3drcwyq7aa

Enhanced markerless surgical robotic guidance system for keyhole neurosurgery

Siyeop YOON, Sangkyun SHIN, Hyunchul CHO, Youngjun KIM, Laehyun KIM, Deukhee LEE, Gunwoo NOH
2017 Journal of Advanced Mechanical Design, Systems, and Manufacturing  
Acknowledgement This research was supported by the 3D Image Guided Head and Neck Reconstruction Surgery Based on Intelligent Workflow Project funded by Korea Institute for Science and Technology (2E26210  ...  The robotic-assisted minimally invasive surgery is performed by determining the position of the robot end-effector.  ...  This kind of calibration procedure is well known as hand-eye calibration or hand-sensor calibration (Tsai, 1989 ).  ... 
doi:10.1299/jamdsm.2017jamdsm0046 fatcat:annvhducgjau7eg2qd3nov7r6u

An approach to robotic guidance of an uncalibrated endoscope in beating heart surgery

Aleksandra Popovic, Paul Thienphrapa
2010 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics  
Minimally invasive cardiac surgery is performed under direct vision provided by an endoscope.  ...  This work presents a first step towards enhanced endoscopic visualization in cardiac surgery by allowing image based steering of the endoscope without the need of camera calibration.  ...  ACKNOWLEDGMENT Authors thank ERC CISST -Computer Integrated Surgical Systems and Technology, Johns Hopkins University, for loaning LARS robot used in these experiments.  ... 
doi:10.1109/biorob.2010.5626060 fatcat:5rqlckwe6fhzlktwzrrpwgxory

A computationally efficient method for hand–eye calibration

Zhiqiang Zhang, Lin Zhang, Guang-Zhong Yang
2017 International Journal of Computer Assisted Radiology and Surgery  
Methods We present a computationally efficient iterative method for hand-eye calibration.  ...  In order to ensure seamless execution of the surgical procedure without affecting the normal surgical workflow, it is important to derive fast and efficient hand-eye calibration methods.  ...  Introduction With increasing maturity of master-slave surgical robots, research in robotically assisted minimally invasive surgery has now focussed on the development of cooperative control and automation  ... 
doi:10.1007/s11548-017-1646-x pmid:28726116 pmcid:PMC5608875 fatcat:7hdca6fwcvd2jbsmwukmfoiyha

Hand-eye calibration with a remote centre of motion

Krittin Pachtrachai, Francisco Vasconcelos, George Dwyer, Stephen Hailes, Danail Stoyanov
2019 IEEE Robotics and Automation Letters  
In the eye-in-hand robot configuration, hand-eye calibration plays a vital role in completing the link between the robot and camera coordinate systems.  ...  Calibration algorithms are mature and provide accurate transformation estimations for an effective camera-robot link but rely on a sufficiently wide range of calibration data to avoid errors and degenerate  ...  Robotic-assisted minimally invasive surgery (RMIS) uses tele-manipulation setups to control the surgical instruments thereby enhancing ergonomics for the surgeon and providing better instrument articulation  ... 
doi:10.1109/lra.2019.2924845 fatcat:lub7bploqndznpbaj3vdsfxop4

Adjoint Transformation Algorithm for Hand–Eye Calibration with Applications in Robotic Assisted Surgery

Krittin Pachtrachai, Francisco Vasconcelos, François Chadebecq, Max Allan, Stephen Hailes, Vijay Pawar, Danail Stoyanov
2018 Annals of Biomedical Engineering  
Hand-eye calibration aims at determining the unknown rigid transformation between the coordinate systems of a robot arm and a camera.  ...  of stereo camera hand-eye relations contribute to a higher calibration accuracy.  ...  ACKNOWLEDGMENTS We would like to thank Intuitive Surgical, CA for their support and the da Vinci Research Kit (DVRK) community for supporting this research.  ... 
doi:10.1007/s10439-018-2097-4 pmid:30051249 fatcat:i64s4tjsxvdahgkxj34qz4galy

Improving rigid 3D calibration for robotic surgery [article]

Andrea Roberti, Nicola Piccinelli, Daniele Meli, Riccardo Muradore, Paolo Fiorini
2020 arXiv   pre-print
One fundamental requirement for autonomy is advanced perception capability through vision sensors. In this paper, we propose a novel calibration technique for a surgical scenario with da Vinci robot.  ...  Calibration of the camera and the robot is necessary for precise positioning of the tools in order to emulate the high performance surgeons. Our calibration technique is tailored for RGB-D camera.  ...  INTRODUCTION A significant part of the research in Robotic-assisted Minimally Invasive Surgery (R-MIS) is nowday focussing on the development of supporting autonomous systems for the execution of repetitive  ... 
arXiv:2007.08427v1 fatcat:2bhmmmklx5dtnjmtsnyutwomsa

Robotic alignment of femoral cutting mask during total knee arthroplasty

E. De Momi, P. Cerveri, E. Gambaretto, M. Marchente, O. Effretti, S. Barbariga, G. Gini, G. Ferrigno
2008 International Journal of Computer Assisted Radiology and Surgery  
Objective To investigate a new navigation system integrated with a robotic arm for total knee replacement (TKR) procedures.  ...  Conclusion This paper shows the feasibility of a robotic system for TKR, integrated with a navigation system, in order to overcome limitations of both approaches.  ...  Acknowledgments Authors are thankful to Lima-Lto (Udine, Italy) for supporting this work and to TIESSE ROBOT Spa (BS-Italy) for providing the Robot FS-03N.  ... 
doi:10.1007/s11548-008-0253-2 fatcat:dtilrhshivb45ih4by3j73zxru
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