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Autonomous Multiple Instruments Tracking for Robot-Assisted Laparoscopic Surgery With Visual Tracking Space Vector Method
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DOI：10.1109/TMECH.2021.3070553.png)
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摘要
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The robot-held laparoscope efficiently maintains the stability of the surgical screen in comparison with the laparoscope held by the assistant. The collaboration between the robot-held laparoscope and the surgeon is achieved without the artificial manipulation by tracking surgical instruments automatically. In this article, a visual tracking space vector method is proposed to autonomously control the field of view by tracking multiple surgical instruments. In the proposed method, a visual tracking space vector is introduced to track the motion of multiple instruments, and a constraint vector is defined to ensure that the laparoscope is always within the safe working space. In addition, a modified YOLOv3 algorithm is proposed to robustly detect and classify the surgical instruments. The proposed method automatically adapts to the changes in the number of surgical instruments, as compared to other visual servoing methods for tracking surgical instruments. The proposed method does not require the depth information of the tracked surgical instruments. Experimental and simulation results verify that the proposed method accurately and efficiently controls the robot-held laparoscope to track the motion of multiple surgical instruments and ensure safe tracking movement.
Keyword:
Laparoscopes
Instruments
Robots
Tracking
Visualization
Cameras
Minimally invasive surgery
Camera model
laparoscope
minimally invasive surgery
surgical instrument tracking
surgical robotics
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论文数:
5.5K
被引数:
2.4W
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引用论文
Detection and Localization of Robotic Tools in Robot-Assisted Surgery Videos Using Deep Neural Networks for Region Proposal and Detection使用深度神经网络进行区域建议和检测，在机器人辅助手术视频中检测和定位机器人工具
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OAAI分享收藏Vision-based and marker-less surgical tool detection and tracking: a review of the literature.png)
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MEDICAL IMAGE ANALYSISIF11.8
OAAI分享收藏EndoNet: A Deep Architecture for Recognition Tasks on Laparoscopic VideosEndoNet: 用于腹腔镜视频识别任务的深层体系结构OAAI
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