Real-time vision-based surgical tool segmentation with robot kinematics prior
Real-time vision-based surgical tool segmentation with robot kinematics prior
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DOI：
10.1109/ismr.2018.8333305
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发表时间：
2018-03
期刊：
影响因子：
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通讯作者：
Yun-Hsuan Su;Kevin Huang;B. Hannaford
中科院分区：
文献类型：
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作者：
Yun-Hsuan Su;Kevin Huang;B. Hannaford
机器人辅助微创手术将训练有素的外科医生的技能和技术与机器的稳健性和精确性相结合。几个优点包括超越人类灵巧的精度，更大的运动自由度在手术工具的尖端，并通过远程操作在远程手术实践的可能性。然而，在外科手术期间获得精确的力反馈仍然是一个具有挑战性的障碍。尽管使用工具尖端安装的传感器的直接力感测在理论上是可能的，但是其不服从所需的灭菌程序。根据组织变形的实时分析的基于视觉的力估计作为一个有前途的替代方案。在这一应用中，沿着众多机器人辅助微创手术的相关研究，内窥镜图像中手术器械的分割是一个先决条件。因此，提出了一种对部分遮挡鲁棒的手术工具分割算法，该算法使用机器人运动学形状先验（u）的DFT形状匹配与Opponent颜色空间中的对数似然掩模（Q）融合以生成最终掩模（U）。在Raven II手术机器人系统上实现，实现了对工具尖端方向的鲁棒性和高达6 fps的实时性能，而无需GPU加速。
Robot-assisted minimally invasive surgery combines the skills and techniques of highly-trained surgeons with the robustness and precision of machines. Several advantages include precision beyond human dexterity alone, greater kinematic degrees of freedom at the surgical tool tip, and possibilities in remote surgical practices through teleoperation. Nevertheless, obtaining accurate force feedback during surgical operations remains a challenging hurdle. Though direct force sensing using tool tip mounted sensors is theoretically possible, it is not amenable to required sterilization procedures. Vision-based force estimation according to real-time analysis of tissue deformation serves as a promising alternative. In this application, along with numerous related research in robotassisted minimally invasive surgery, segmentation of surgical instruments in endoscopic images is a prerequisite. Thus, a surgical tool segmentation algorithm robust to partial occlusion is proposed using DFT shape matching of robot kinematics shape prior (u) fused with log likelihood mask (Q) in the Opponent color space to generate final mask (U). Implemented on the Raven II surgical robot system, a real-time performance robust to tool tip orientation and up to 6 fps without GPU acceleration is achieved.