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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  
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.  ...  The image-based tracking is supervised by means of the kinematic information and reinitialized in case of conflicting results.  ...  [9] analyzed the typical color distribution in laparoscopic images to identify an adequate color that can be used for optical markers that are attached at the distal end of the instrument.  ... 
doi:10.1109/biorob.2010.5628075 fatcat:zb7a7slbkff3tbpit2w4nhdlny

Robotic Endoscope Control via Autonomous Instrument Tracking [article]

Caspar Gruijthuijsen, Luis C. Garcia-Peraza-Herrera, Gianni Borghesan, Dominiek Reynaerts, Jan Deprest, Sebastien Ourselin, Tom Vercauteren, Emmanuel Vander Poorten
2022 arXiv   pre-print
The clinical relevance of the study is ensured through the use of a laparoscopic exercise validated by the European Academy of Gynaecological Surgery which involves bi-manual coordination and navigation  ...  Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant.  ...  Vercauteren is supported by a Medtronic/Royal Academy of Engineering Research Chair [RCSRF1819\7\34].  ... 
arXiv:2107.02317v3 fatcat:tu5gswxbijg63gmtrx5o6ctlmq

Robotic prostate surgery

Michael Muntener, Daniel Ursu, Alexandru Patriciu, Doru Petrisor, Dan Stoianovici
2006 Expert Review of Medical Devices  
However, the relationship between medical robotics and the field of urology is older than most urologists know and it will most likely have a bright future beyond any contemporary application.  ...  The increasing popularity of robot-assisted radical prostatectomy has put the field of robotics in the spotlight.  ...  The arms of the surgical manipulator are used to control the laparoscope and for manipulating surgical instruments.  ... 
doi:10.1586/17434440.3.5.575 pmid:17064243 fatcat:j47zoe47nnfwviewl3tnxdavkm

Motion estimation in minimally invasive beating heart surgery [chapter]

Tobias Ortmaier, Martin Gröger, Gerd Hirzinger
2002 CARS 2002 Computer Assisted Radiology and Surgery  
Tracking Model According to [40] two different tracking approaches can be distinguished: tracking based on image features and tracking of complete regions or patterns in an image.  ...  Figure 4.16(b) shows the tracked target after 7 frames. It occurs displaced and rotated from the pose of the reference pattern. Figure 4 . 17 : 417 Tracked pattern pasted into reference image.  ... 
doi:10.1007/978-3-642-56168-9_34 fatcat:qmthqffzunbzvbup6prbpcmxbi

Advanced Intelligent Systems for Surgical Robotics [article]

Mai Thanh Thai, Phuoc Thien Phan, Shing Wong, Nigel H. Lovell, Thanh Nho Do
2020 arXiv   pre-print
Surgical robots have had clinical use since the mid 1990s.  ...  This paper will overview a historical development of surgery from conventional open to robotic-assisted approaches with discussion on the capabilities of advanced intelligent systems and devices that are  ...  The use of master a console with joystick controls compensates for the fulcrum effect at the skin level with the the use of laparoscopic instruments.  ... 
arXiv:2001.00285v1 fatcat:eymmyaqgtve6jghuj4fd25jmby

Cardiac and Thoracic-Abdominal Surgery

2006 International Journal of Computer Assisted Radiology and Surgery  
Tests performed on a data set taken from a pig's heartbeat show the algorithm's potential of eliminating tracking phase lag.  ...  Abstract A control algorithm is developed to synchronize a robotic surgical system with a moving heart to facilitate beating heart surgery The algorithm is based on model reference control, where feedforward  ...  A proportional-integral-derivative (PID) control scheme is used to control the needle motion in order to track specified trajectories in both DOF during needle insertion.  ... 
doi:10.1007/s11548-006-0021-0 fatcat:7girlkxijner7ay3zih4jrzugq

Prototypic Force Feedback Instrument for Minimally Invasive Robotic Surgery [chapter]

Ulrich Seibold, Bernhard Kuebler, Gerd Hirzinger
2008 Medical Robotics  
Rotational DoF indicated with a double arrowhead, translational DoF with a single one.  ...  All instruments are equipped with a color marker at the tip.  ...  Robotics is being introduced to medicine because it allows for unprecedented control and precision of surgical instruments in minimally invasive procedures.  ... 
doi:10.5772/5262 fatcat:q6irome5z5gfhgohvnadjmhn2u

Snake Robots for Surgical Applications: A Review

Jenna Seetohul, Mahmood Shafiee
2022 Robotics  
A wide range of robots have been analysed, such as the i²Snake robot, inspiring the use of force and position feedback, visual servoing and augmented reality (AR).  ...  This paper aims to conduct a review of planning and operation concepts of hyper-redundant serpentine robots for surgical use, as well as any future challenges and solutions for better manipulation.  ...  They can be classified into two categories based on their mechanical structure: (1) rigid instruments, used for traditional laparoscopic surgery, can be inserted through minuscule orifices and feature  ... 
doi:10.3390/robotics11030057 fatcat:vgpup2mp2vg65ikna66z4vzzsa

Intraoperative robotic-assisted large-area high-speed microscopic imaging and intervention

2018 IEEE Transactions on Biomedical Engineering  
Methods: In this paper, a novel robotic device for large-area endomicroscopy imaging is proposed, demonstrating a rapid, but highly accurate, scanning mechanism with image-based motion control which is  ...  Endomicroscopy could potentially be used for intraoperative surgical guidance, but it is challenging to assess a surgical site using individual microscopic images due to the limited field-of-view and difficulties  ...  S6 shows the tracked trajectories over a central area with parameters typical of scans used for imaging, for three repeats of spiral trajectories and four repeats of raster trajectories.  ... 
doi:10.1109/tbme.2018.2837058 pmid:29993497 fatcat:tbjbbrin4nd4lb5sc6ukecn3fe

Vision-based and marker-less surgical tool detection and tracking: a review of the literature

David Bouget, Max Allan, Danail Stoyanov, Pierre Jannin
2017 Medical Image Analysis  
In this paper, we present a review of the literature dealing with vision-based and marker-less surgical tool detection.  ...  surgical instrument tracking" limiting results to the year range 2000 -2015.  ...  to tracking the pose of medical instruments is to use optical markers, reflecting or emitting a non-visible wavelength of light (e.g. infra-red).  ... 
doi:10.1016/j.media.2016.09.003 pmid:27744253 fatcat:ertyp274bvdxrjumxsvmd5mqau

Principles and Applications of Medical Virtual Environments [article]

F. P. Vidal, F. Bello, K. Brodlie, N.W. John, D. Gould, R. Phillips, N. J. Avis
2004 Eurographics State of the Art Reports  
The report begins with a description of the commonly used imaging modalities and then details the software algorithms and hardware that allows visualization of and interaction with this data.  ...  This report provides a comprehensive overview of the state-of-the-art in this exciting field.  ...  Optical spatial trackers rely on tracking a number of markers on an object. For each marker a 3 DOF position is determined by a camera system.  ... 
doi:10.2312/egst.20041024 fatcat:of4sims3trcb5cuyyqjx7omoa4

Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure [article]

Daniel Seita, Sanjay Krishnan, Roy Fox, Stephen McKinley, John Canny, Ken Goldberg
2018 arXiv   pre-print
In Phase I (coarse), we place a red calibration marker on the end effector and let it randomly move through a set of open-loop trajectories to obtain a large sample set of camera pixels and internal robot  ...  This coarse data is then used to train a Deep Neural Network (DNN) to learn the coarse transformation bias.  ...  We apply the combined DNN and RF pipeline to debridement. robotic arm consists of a 3 DoF manipulator to which a modular 4 DoF instrument is attached.  ... 
arXiv:1709.06668v2 fatcat:ae6zp3qirjajphy3ztly5gh6cq

EndoSLAM Dataset and An Unsupervised Monocular Visual Odometry and Depth Estimation Approach for Endoscopic Videos: Endo-SfMLearner [article]

Kutsev Bengisu Ozyoruk, Guliz Irem Gokceler, Gulfize Coskun, Kagan Incetan, Yasin Almalioglu, Faisal Mahmood, Eva Curto, Luis Perdigoto, Marina Oliveira, Hasan Sahin, Helder Araujo, Henrique Alexandrino (+3 others)
2020 arXiv   pre-print
The proposed approach makes use of a brightness-aware photometric loss to improve the robustness under fast frame-to-frame illumination changes.  ...  To exemplify the use-case of the EndoSLAM dataset, the performance of Endo-SfMLearner is extensively compared with the state-of-the-art.  ...  Acknowledgment Mehmet Turan, Kutsev Bengisu Ozyoruk, Guliz Irem Gokceler, Gulfize Coskun, and Kagan Incetan are especially grateful to the Scientific and Technological Research Council of Turkey (TUBITAK  ... 
arXiv:2006.16670v3 fatcat:i4wz6l24g5b6pp56d46ah7bkqm

Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach [article]

Florian Richter, Jingpei Lu, Ryan K. Orosco, Michael C. Yip
2021 arXiv   pre-print
of the base-to-camera transform.  ...  Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known.  ...  The PSM has 6 DoF and an additional gripper joint. The ECM is stereoscopic and has 4 DoF.  ... 
arXiv:2102.06235v2 fatcat:g3ab3zwzd5annb6sr2j3b7bm7y

CARS 2016—Computer Assisted Radiology and Surgery Proceedings of the 30th International Congress and Exhibition Heidelberg, Germany, June 21–25, 2016

2016 International Journal of Computer Assisted Radiology and Surgery  
We would like to thank the Spanish company BQ for the donation of the 3D printing hardware for clinical use.  ...  Acknowledgements This study was supported in part by grants from the Ohio Department of Development (TVSF 15-  ...  For the identification of the instruments we used ART, a marker based tracking system.  ... 
doi:10.1007/s11548-016-1412-5 pmid:27206418 fatcat:uk5r46n2xvhedkfjzmeiweyneq
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