Technical session talks from ICRA 2012
TechTalks from event: Technical session talks from ICRA 2012
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Full state visual forceps tracking under a microscope using projective contour modelsForceps tracking is an important element of high-level surgical assistance such as visual servoing and surgical motion analysis. In many computer vision algorithms, artificial markers are used to enable robust tracking; however, markerless tracking methods are more appropriate in surgical applications due to their sterilizability. This paper describes a robust, efficient tracking algorithm capable of estimating the full state parameters of a robotic surgical instrument on the basis of projective contour modeling using a 3-D CAD model of the forceps. Thus, the proposed method does not require any artificial markers. The likelihood of the contour model was measured using edge distance transformation to evaluate the similarity of the projected CAD model to the microscopic image, followed by particle filtering to estimate the full state of the forceps. Experimental results in simulated surgical environments indicate that the proposed method is robust and time-efficient, and fulfills real-time processing requirements.
MARVEL: A Wireless Miniature Anchored Robotic Videoscope for Expedited LaparoscopyThis paper describes the design and implementation of a Miniature Anchored Robotic Videoscope for Expedited Laparoscopy (MARVEL) camera module that features wireless communications and control. This device decreases the surgical-tool bottleneck experienced by surgeons in state-of-the art Laparoscopic Endoscopic Single-Site (LESS) procedures for minimally invasive abdominal surgery. The system includes: (1) a near-zero latency wireless communications link, (2) a pan/tilt camera platform, actuated by two tiny motors that gives surgeons a full field of view inside the abdominal cavity, (3) a small wireless camera, (4) a wireless luminosity control system, and (5) a wireless human-machine interface to control the device. An in-vivo experiment on a porcine subject was carried out to test the general performance of the system. The robotic design is a proof of concept, which creates a research platform for a broad range of experiments in a range of domains for faculty and students in the Colleges of Engineering and Medicine and at Tampa General Hospital. This research is the first step in developing semi-autonomous wirelessly controllable and observable communicating and networked laparoscopic devices to enable a paradigm shift in minimally invasive surgery.
Motion Planning for the Virtual BronchoscopyBronchoscopy is an interventional medical procedure employed to analyze the interior side of the human airways, clear possible obstructions and biopsy. Using a 3D reconstruction of the tracheobronchial tree, Virtual Bronchoscopy (VB) may help physicians in the exploration of peripheral lung lesions. We are developing a haptic-based navigation system for the VB that allows the navigation within the airways using a haptic device whose permitted motions mimics those done with the real bronchoscope. This paper describes the motion planning module of the system devoted to plan a path from the trachea to small peripheral pulmonary lesions, that takes into account the geometry and the kinematic constraints of the bronchoscope. The motion planner output is used to visually and haptically guide the navigation during the virtual exploration using the haptic device. Moreover, physicians can get useful information of whether the peripheral lesions can effectively be reached with a given bronchoscope or of which is the nearest point to the lesion that can be reached.