Real-time Endoscopic Image Overlay of the Tip of Surgical Instruments for Control of a Forceps Robot

DOI
  • KUMAOU SHOUGO
    Department of Biomedical Engineering, Graduate School of Science and Technology, Shinshu University
  • IWAMOTO NORIYASU
    Department of Mechanical Engineering and Robotics, Faculty of Textile Science and Technology, Shinshu University
  • KAWAI TOSHIKAZU
    Department of Robotics, Graduate School of Robotics and Design, Osaka Institute of Technology
  • SUZUKI HISASHI
    Department of Information and System Engineering, Faculty of Science and Engineering, Chuo University
  • KATAI HITOSHI
    Department of Gastric Surgery, National Cancer Center Hospital
  • NISHIKAWA ATSUSHI
    Department of Mechanical Engineering and Robotics, Faculty of Textile Science and Technology, Shinshu University

Bibliographic Information

Other Title
  • 手術器具把持ロボット制御のための器具先端の実時間高精度内視鏡画像合成手法

Description

<p>In this research, we aim to establish a method of real-time high accuracy endoscopic image overlay of the tip of surgical instruments for control of a forceps robot. In general, the relationship between the position of an object in the three-dimensional space and its projection onto the camera image can be represented by a single camera model. However, the closer an endoscope gets to surgical instruments, the larger the projection error becomes. The proposed system introduces virtual multi camera models according to the distance between an endoscope and surgical instruments for alleviating the projection error. </p>

Journal

Details 詳細情報について

  • CRID
    1390001288070269952
  • NII Article ID
    130007483773
  • DOI
    10.11239/jsmbe.annual56.s173
  • ISSN
    18814379
    1347443X
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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