지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 2,195 - 2,198 (4page)
이용수
초록· 키워드
오류제보하기
Robot-assisted cardiac surgeries are effective for operations in limited spaces. Enhancement in safety functions based on automatic tracking of surgical instrument position to prevent inadvertent harmful events as cardiac tissue perforation and instrument collisions can be meaningful augmentation to current robot surgery system. A vision based instrument tracking scheme as a core algorithm to implement such assistive functions has been developed in this study. Through a chain of computer vision techniques, including classification of metallic properties using k-means clustering and instrument movement tracking using similarity measure, Euclidean distance calculation, and Kalman filter algorithm, an automatic tracking scheme has been proposed and the implemented system showed satisfactory performance in tests using real robot-assisted surgery videos. Trajectory comparisons of automatically detected data and ground truth data obtained by manually locating the center of mass of each instrument were used to quantitatively validate the system. The developed algorithm could provide valuable information to clinicians for safer operation.
목차
Abstract
1. INTRODUCTION
2. MATERIALS AND METHODS
3. RESULTS
4. DISCUSSION
5. CONCLUSION
REFERENCES
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