Derivation of a Virtual Laser Spot Point Using a 3D Measuring Device and a Stereo Endoscope

DOI
  • KATSUMATA SHINSUKE
    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3次元計測装置とステレオ内視鏡を用いた仮想レーザスポット点の導出

Description

<p>The purpose of this study is to derive a virtual point corresponding to the laser spot point in the previous research and to control the forceps robot without using the real laser pointer by using the optical three-dimensional measuring device Polaris and a stereo endoscope. First of all, we virtually reproduced the state where markers were attached to the surgical instrument by attaching the Polaris markers to the forceps robot followed by performing a coordinate transformation. We then derived the virtual laser spot point by drawing a half straight line extending the tip of the surgical instrument to organ direction on the endoscopic left and right images obtained from the stereo endoscope, followed by searching for a point where the virtual disparity on the half straight line coincides with the actual disparity from the stereo endoscope from the tip of the instrument toward the organ surface.</p>

Journal

Details 詳細情報について

  • CRID
    1390845713000207232
  • NII Article ID
    130007483958
  • DOI
    10.11239/jsmbe.annual56.s377
  • ISSN
    18814379
    1347443X
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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