An Autonomous Surgical Instrument Tracking Framework With a Binocular Camera for a Robotic Flexible Laparoscope.
Jian LiYisen HuangXue ZhangKe XieYitian XianXiao LuoPhilip Wai Yan ChiuZheng LiPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- robotic systems
- vision system
- tracking framework
- minimally invasive surgery
- laparoscopic surgery
- intraoperative
- real time
- object tracking
- visual tracking
- multi target tracking
- robotic assisted
- robust tracking
- field of view
- particle filtering
- kalman filter
- visual servoing
- appearance model
- camera calibration
- minimally invasive
- particle filter
- degrees of freedom
- bayesian methods
- camera motion
- multiple cameras
- x ray
- stereo images
- robot assisted
- soft tissue
- face tracking
- appearance variations
- d objects
- image sequences
- computer vision