Abstract
In this paper, we address the problem of the image-based 3D pose computation of a semi-circle suturing needle using monocular image feedback for laparoscopy. We propose a constrained two-degree-of-freedom (2-DOF) geometrybased modelling method to parametrise the needle's 6-DOF pose, including depth information. The modelling solely relies on the simultaneous observation of the needle's apparent tip and junction. No external markers are needed for extra constraints. An adaptive controller combining gradient descent and vectorflow method is introduced to iteratively guide the needle's initial guessing pose to its real pose by minimizing image-based position errors. Experiments have been conducted using both numerical simulations and simulated laparoscopic scenarios to evaluate the performance of the algorithm.
Original language | English |
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Title of host publication | IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems |
Publisher | IEEE |
Pages | 5521-5526 |
Number of pages | 6 |
Volume | 2016-November |
ISBN (Electronic) | 9781509037629 |
DOIs | |
Publication status | Published - 28 Nov 2016 |
Externally published | Yes |
Event | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016 |
Conference
Conference | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 |
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Country/Territory | Korea, Republic of |
City | Daejeon |
Period | 9/10/16 → 14/10/16 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications