Stereoscopic vision-based robotic manipulator extraction method for enhanced soft tissue reconstruction

Jȩdrzej Kowalczuk; Eric Psota; Lance C. Pérez

doi:10.3233/978-1-61499-209-7-235

Stereoscopic vision-based robotic manipulator extraction method for enhanced soft tissue reconstruction

Jȩdrzej Kowalczuk, Eric Psota, Lance C. Pérez

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

The availability of digital stereoscopic video feedback on surgical robotic platforms allows for a variety of enhancements through the application of computer vision. Several of these enhancements, such as augmented reality and semi-automated surgery, benefit significantly from identification of the robotic manipulators within the field of view. A method is presented for the extraction of robotic manipulators from stereoscopic views of the operating field that uses a combination of marker tracking, inverse kinematics, and computer rendering. This method is shown to accurately identify the locations of the manipulators within the views. It is further demonstrated that this method can be used to enhance 3D reconstruction of the operating field and produce augmented views.

Original language	English (US)
Pages (from-to)	235-241
Number of pages	7
Journal	Studies in health technology and informatics
Volume	184
DOIs	https://doi.org/10.3233/978-1-61499-209-7-235
State	Published - 2013

Keywords

Augmented reality
Robotic surgery
Surgical modeling

ASJC Scopus subject areas

Biomedical Engineering
Health Informatics
Health Information Management

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10.3233/978-1-61499-209-7-235

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abstract = "The availability of digital stereoscopic video feedback on surgical robotic platforms allows for a variety of enhancements through the application of computer vision. Several of these enhancements, such as augmented reality and semi-automated surgery, benefit significantly from identification of the robotic manipulators within the field of view. A method is presented for the extraction of robotic manipulators from stereoscopic views of the operating field that uses a combination of marker tracking, inverse kinematics, and computer rendering. This method is shown to accurately identify the locations of the manipulators within the views. It is further demonstrated that this method can be used to enhance 3D reconstruction of the operating field and produce augmented views.",

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AU - Kowalczuk, Jȩdrzej

AU - Psota, Eric

AU - Pérez, Lance C.

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AB - The availability of digital stereoscopic video feedback on surgical robotic platforms allows for a variety of enhancements through the application of computer vision. Several of these enhancements, such as augmented reality and semi-automated surgery, benefit significantly from identification of the robotic manipulators within the field of view. A method is presented for the extraction of robotic manipulators from stereoscopic views of the operating field that uses a combination of marker tracking, inverse kinematics, and computer rendering. This method is shown to accurately identify the locations of the manipulators within the views. It is further demonstrated that this method can be used to enhance 3D reconstruction of the operating field and produce augmented views.

KW - Augmented reality

KW - Robotic surgery

KW - Surgical modeling

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Stereoscopic vision-based robotic manipulator extraction method for enhanced soft tissue reconstruction

Abstract

Keywords

ASJC Scopus subject areas

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