TY - JOUR
T1 - Image-Based Trajectory Tracking Control of 4-DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker
AU - Wang, Zerui
AU - Lee, Chun Sing
AU - Zhong, Fangxun
AU - Navarro-Alarcon, David
AU - Liu, Yunhui
AU - Deguet, Anton
AU - Kazanzides, Peter
AU - Taylor, Russell H.
PY - 2017/7
Y1 - 2017/7
N2 - In this letter, we propose a new method to fully control complete 4-image-DoF manipulation of laparoscopic instruments [with remote center of motion (RCM) mechanism] based on the geometric features of a designed marker in a 2-D image. Our marker encodes the configuration of the instruments by computing geometric features among the projected image points from segmented areas in hue-saturation-value (HSV) space. We can then construct an image geometric feature vector to locally characterize the configuration of a laparoscopic instrument. Furthermore, we design an image-based kinematic controller to asymptotically track a planned trajectory using the constructed feature vector as the feedback. We evaluate our integration of rotation distinguishing marker and kinematic controller by several experiments in terms of illumination-invariance, rotation angle accuracy, and controller performance.
AB - In this letter, we propose a new method to fully control complete 4-image-DoF manipulation of laparoscopic instruments [with remote center of motion (RCM) mechanism] based on the geometric features of a designed marker in a 2-D image. Our marker encodes the configuration of the instruments by computing geometric features among the projected image points from segmented areas in hue-saturation-value (HSV) space. We can then construct an image geometric feature vector to locally characterize the configuration of a laparoscopic instrument. Furthermore, we design an image-based kinematic controller to asymptotically track a planned trajectory using the constructed feature vector as the feedback. We evaluate our integration of rotation distinguishing marker and kinematic controller by several experiments in terms of illumination-invariance, rotation angle accuracy, and controller performance.
U2 - 10.1109/LRA.2017.2676350
DO - 10.1109/LRA.2017.2676350
M3 - Journal article
SN - 2377-3766
VL - 2
SP - 1586
EP - 1592
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 3
ER -