Robot-assisted Occlusion Avoidance for Surgical Instrument Optical Tracking System
Refereed conference paper presented and published in conference proceedings


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AbstractDue to the direct line-of-sight constraint, surgical instrument optical tracking system (OTS) suffers occlusion problem caused by the equipments, staff members, or surgical instruments during the operation. To alleviate the burden of surgeons, we propose a robotic platform and an optimization based control methods to autonomously re-configure the optical tracker when the occlusion problem is about to occur. The robotic platform, which comprises a robot arm with 4 degrees of freedom, an optical tracker, and a RGB-D camera, is first proposed and characterized. The problem formulation and algorithm development are then intensively analysed. Furthermore, simulation experiments with different occlusion situations are conducted. The results are analyzed and discussed in the end.
All Author(s) ListWang JL, Qi L, Meng MQH
Name of ConferenceIEEE International Conference on Information and Automation 2015
Start Date of Conference08/08/2015
End Date of Conference10/08/2015
Place of ConferenceLijiang
Country/Region of ConferenceChina
Detailed descriptionorganized by IEEE,
Year2015
Month1
Day1
PublisherIEEE
Pages375 - 380
eISBN978-1-4673-9104-7
LanguagesEnglish-United Kingdom
KeywordsOcclusion Avoidance; Optimization; Surgical instrument tracking
Web of Science Subject CategoriesAutomation & Control Systems; Engineering; Engineering, Electrical & Electronic

Last updated on 2020-27-10 at 23:17