TY - GEN
T1 - A novel dynamic filed tracking algorithm of mirror-holding robot for minimally invasive surgery
AU - Zhang, Hongmin
AU - Li, Xiaojian
AU - Ding, Shuai
AU - Yang, Shanlin
AU - Li, Ling
AU - Qiu, Yan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - Minimally invasive surgery (MIS) is a surgical treatment with small scar and quick recovery. In MIS, an endoscope is usually carried by surgeon or assistant to observe surgical instruments and focal points. This paper proposes a new camera tracking system to help surgeons observe the operating environment in MIS. Held by the mirror-holding robot, the camera follows the specified tool and focal points intelligently and autonomously. Based on the target in the picture taken by the camera, the system adjusts the camera position, which is dynamic operation field tracking. It helps surgeons observe the operation in real time. The tracking algorithm can ensure the accuracy, safety and real-time tracking of the motion of the camera. The simulation results verified the effectiveness of the algorithm.
AB - Minimally invasive surgery (MIS) is a surgical treatment with small scar and quick recovery. In MIS, an endoscope is usually carried by surgeon or assistant to observe surgical instruments and focal points. This paper proposes a new camera tracking system to help surgeons observe the operating environment in MIS. Held by the mirror-holding robot, the camera follows the specified tool and focal points intelligently and autonomously. Based on the target in the picture taken by the camera, the system adjusts the camera position, which is dynamic operation field tracking. It helps surgeons observe the operation in real time. The tracking algorithm can ensure the accuracy, safety and real-time tracking of the motion of the camera. The simulation results verified the effectiveness of the algorithm.
KW - Automatic tracking
KW - Camera model
KW - Minimally invasive surgery
KW - Mirror-holding robot
KW - Projection theory
UR - https://www.scopus.com/pages/publications/85074264688
U2 - 10.1109/AIM.2019.8868397
DO - 10.1109/AIM.2019.8868397
M3 - 会议稿件
AN - SCOPUS:85074264688
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 948
EP - 953
BT - Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
Y2 - 8 July 2019 through 12 July 2019
ER -