Reiter Austin, Allen Peter K, Zhao Tao
Columbia University, New York, NY, USA.
Med Image Comput Comput Assist Interv. 2012;15(Pt 2):592-600. doi: 10.1007/978-3-642-33418-4_73.
Tool tracking is an accepted capability for computer-aided surgical intervention which has numerous applications, both in robotic and manual minimally-invasive procedures. In this paper, we describe a tracking system which learns visual feature descriptors as class-specific landmarks on an articulated tool. The features are localized in 3D using stereo vision and are fused with the robot kinematics to track all of the joints of the dexterous manipulator. Experiments are performed using previously-collected porcine data from a surgical robot.
工具跟踪是计算机辅助手术干预的一项公认功能，在机器人手术和手动微创手术中都有众多应用。在本文中，我们描述了一种跟踪系统，该系统将视觉特征描述符学习为关节式工具上特定类别的地标。这些特征通过立体视觉在三维空间中定位，并与机器人运动学相结合，以跟踪灵巧机械手的所有关节。我们使用先前从手术机器人收集的猪数据进行了实验。
