3D thread tracking for robotic assistance in tele-surgery

Nicolas Padoy, Gregory D. Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Remote tele-manipulation tasks can be both long and exhausting. The operative workload can however be reduced through contextual systems, in which routine or dexterous actions are performed automatically. In this paper, we investigate this idea in tele-surgery by proposing automatic scissors, namely the possibility for a surgeon to invoke a third robotic arm to come and automatically cut the thread that he/she is holding. In particular, we address the problem of tracking deformable 3-dimensional (3D) curvilinear objects from stereo images. We propose an approach based on discrete Markov random field (MRF) optimization to track, in 3D, a thread modeled by a non-uniform rational B-spline (NURBS). We evaluate its accuracy off-line on synthetic and real data and illustrate its use for an automatic scissors command within an assistance system based on the da Vinci tele-surgical robot.

Original languageEnglish (US)
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages2102-2107
Number of pages6
DOIs
StatePublished - Dec 29 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of '3D thread tracking for robotic assistance in tele-surgery'. Together they form a unique fingerprint.

  • Cite this

    Padoy, N., & Hager, G. D. (2011). 3D thread tracking for robotic assistance in tele-surgery. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 2102-2107). [6048574] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048574