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Vision based relative position estimation in surgical robotics.

Muthukrishnan, Ramkumar; Kannan, Somasundar; Prabhu, Radhakrishna; Zhao, Yafan; Bhowmick, Parijat; Hasan, Md Junayed


Yafan Zhao

Parijat Bhowmick


Teleoperation-based Robotic-Assisted Minimally In-vasive Surgery (RAMIS) has gained immense popularity in medical field. However, limited physical interaction between the surgeon and patient poses a significant challenge. In RAMIS, the surgeon operates the robotic system remotely, which can diminish the personal connection and raise concerns about immediate responsiveness to unforeseen situations. Additionally, patients may perceive RAMIS as riskier due to potential technological failures and a lack of direct surgeon control. Surgeons have identified accidental clashes between surgical instruments and tissues as a critical issue. This work presents a technique that measures the distance between a surgical tool and tissue by extracting feature points from a Static Virtual Marker (SVM) and employing a classic feature detection algorithm Fast Oriented and Rotated Brief (ORB). Using a customized surgical robot and a ROS-based transform measurement system, this approach was successfully validated in the Gazebo simulation environment, offering safer surgical operations.


MUTHUKRISHNAN, R., KANNAN, S., PRABHU, R., ZHAO, Y., BHOWMICK, P. and HASAN, M.J. 2023. Vision based relative position estimation in surgical robotics. In Proceedings of the 2023 Network, multimedia and information technology international conference (NMITCON 2023), 1-2 September 2023, Bengaluru, India. Piscataway: IEEE [online], article number 10275973. Available from:

Conference Name 2023 Network, multimedia and information technology international conference, NMITCON 2023
Conference Location Bengaluru, India
Start Date Sep 1, 2023
End Date Sep 2, 2023
Acceptance Date Jul 30, 2023
Online Publication Date Oct 17, 2023
Publication Date Dec 31, 2023
Deposit Date Nov 13, 2023
Publicly Available Date Nov 13, 2023
Publisher Institute of Electrical and Electronics Engineers (IEEE)
ISBN 9798350300826
Keywords Image processing; Robot operating system; Gazebo simulation; Surgical robot
Public URL


MUTHUKRISHNAN 2023 Vision based relative (AAM) (4.5 Mb)

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