An Autonomous Surgical Instrument Tracking Framework With a Binocular Camera for a Robotic Flexible Laparoscope
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摘要In minimally invasive surgery (MIS), the field of view (FOV) plays a vital role. To enhance the stability of FOV and lighten the burden on surgeons, robot-assisted laparoscope systems have been developed and introduced into surgery. However, most of the existing automatic surgical tool tracking schemes with robotic laparoscopes either do not consider tracking of the depth direction or the remote center of motion (RCM) constraints. To tackle these problems, this article presents an autonomous three-dimensional surgical instrument tracking framework for a robotic laparoscope based on a binocular camera. A 3-degree-of-freedom visual tracking scheme is derived from the kinematics of the binocular robotic laparoscope. A programmable RCM constraint is introduced due to the MIS requirement. To precisely locate the surgical instruments in FOV, a surgical instrument tip segmentation dataset with 5471 images is built and a modified real-time instance segmentation network is trained based on the dataset. Then, a semi-global matching (SGM) algorithm is utilized with the binocular camera to estimate the depth in FOV. To meet the joint limit constraint and maintain the dexterity of the robotic system, a task-priority-based control method is adopted. The simulation and experiment results demonstrate the feasibility of the proposed framework for instrument tracking with the robotic laparoscope.
著者Li J, Huang YS, Zhang X, Xie K, Xian YT, Luo X, Chiu PWY, Li Z
期刊名稱IEEE Robotics and Automation Letters
出版年份2023
月份7
卷號8
期次7
出版社IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
頁次4291 - 4298
國際標準期刊號2377-3766
語言英式英語
關鍵詞Instruments, Laparoscopes, Robots, Three-dimensional displays, Cameras, Surgery, Visualization, Robotic laparoscopy, binocular visual sensing, Index Terms, robot control, visual servoing, computer vision for surgical robotics
Web of Science 學科類別Robotics;Robotics

上次更新時間 2024-16-10 於 14:12