Real-Time 3D Reconstruction of Dexterous Continuum Surgical Robots
نویسندگان
چکیده
Dexterous continuum surgical robots are of increasing interest to researchers given their ability to reach remote areas within the body by moving in highly curved paths. Knowing the configuration of the robot at any time is important for precise control and accurate performance during surgical procedures. Although kinematic models have been developed for some of these robots, these models are only accurate to within several millimeters. The accuracy of these models is of increasing concern as robots are being constructed out of novel materials. In this report, we describe an image processing pipeline for reconstructing the 3D backbone of a concentric tube robot using two orthogonal cameras as the robot moves in free space.
منابع مشابه
Workshop / Tutorial on Continuum Robots for Surgery: Modeling, Control and Applications
The past decade has witnessed accelerated growth of medical robotics and computer-assisted medical technologies that rely on dexterous tools to enable new surgical procedures. Lately, there has been a growing trend of adopting continuum robots as a design solution for dexterous intervention. These robots present modeling and control challenges beyond the standard modeling and control paradigms ...
متن کاملFast vision-based catheter 3D reconstruction.
Continuum robots offer better maneuverability and inherent compliance and are well-suited for surgical applications as catheters, where gentle interaction with the environment is desired. However, sensing their shape and tip position is a challenge as traditional sensors can not be employed in the way they are in rigid robotic manipulators. In this paper, a high speed vision-based shape sensing...
متن کامل3D Reconstruction Framework for Multiple Remote Robots on Cloud System
This paper proposes a cloud-based framework that optimizes the three-dimensional (3D) reconstruction of multiple types of sensor data captured from multiple remote robots. A working environment using multiple remote robots requires massive amounts of data processing in real-time, which cannot be achieved using a single computer. In the proposed framework, reconstruction is carried out in cloud-...
متن کاملToward Fluoroscopic Shape Reconstruction for Control of Steerable Medical Devices
Control of surgical continuum robot manipulators and steerable needles requires accurate real-time sensing of tip position and/or shaft shape. Medical image feedback provides the most straightforward and widely available method of measuring device and clinical target positions and shapes during insertion or tissue manipulation. In this paper we present a method for automatic robot/needle curve ...
متن کاملReal-Time 3D Reconstruction for Collision Avoidance in Interventional Environments
With the increased presence of automated devices such as C-arms and medical robots and the introduction of a multitude of surgical tools, navigation systems and patient monitoring devices, collision avoidance has become an issue of practical value in interventional environments. In this paper, we present a real-time 3D reconstruction system for interventional environments which aims at predicti...
متن کامل