Tracking and estimation of surgical tool relative-pose and angle based on the vision system for surgical robot.

Muthukrishnan, Ramkumar; Kannan, Somasundar; Zhao, Yafan; Prabhu, Radhakrishna

Abstract

This research presents a Virtual Dynamic Tri crossbar and a Virtual Stable Graph (VDT VSG) which simplifies the task of tracing the needle angle and location in 2 D plane. In addition, Virtual Dynamic Line (helps to quantify the displacement between organ and surgical needle.

Citation

MUTHUKRISHNAN, R., KANNAN, S., ZHAO, Y. and PRABHU, R. 2024. Tracking and estimation of surgical tool relative-pose and angle based on the vision system for sugical robot. Poster presented at the 3rd Medical device manufacturing centre annual conference 2024 (MDMC 2024), 23 May 2024, Glasgow, UK.

• Presentation Conference Type: Poster
• Conference Name: 3rd Medical device manufacturing centre annual conference 2024 (MDMC 2024)
• Start Date: May 23, 2024
• Deposit Date: May 27, 2024
• Publicly Available Date: May 27, 2024
• Peer Reviewed: Peer Reviewed
• Keywords: Robot-assisted-surgery (RAS); Surgical tools; Surgical tool detection; Tool tracking
• Public URL: https://rgu-repository.worktribe.com/output/2348736