In endoscopic surgery, trocars impose kinematic constraints. Whenever a robot manipulates endoscopic instruments, it needs to know the trocar location with ...
This paper is considering a comanipulation scenario: Both the robot and the surgeon hold the instrument and it is needed to detect in real time whether the ...
May 1, 2016 · In endoscopic surgery, trocars impose kinematic constraints. Whenever a robot manipulates endoscopic instruments, it needs to know the ...
It requires a very precise positioning of the RCM with the incision point during surgery to avoid tissue damage (Dong and Morel, 2016) and also causes the ...
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Lin Dong, Guillaume Morel: Robust trocar detection and localization during robot-assisted endoscopic surgery. ICRA 2016: 4109-4114.
Trocar localisation for robot-assisted vitreoretinal surgery - PMC
pmc.ncbi.nlm.nih.gov › PMC10838829
Jun 24, 2023 · This paper proposes the trocar localisation aspect of such a system. This is achieved by utilising a micro-camera attached to the surgical ...
Apr 3, 2022 · A robust and real-time trocar identification algorithm based on least square (LS) algorithm was proposed in the context of human–robot co-manipulation scenario.
... The identification of trocar location is of vital importance for navigation and elimination of the fulcrum effect by the robotic system. The da Vinci robot ...
A robust and real-time trocar identification algorithm based on least square (LS) algorithm was proposed in the context of human-robot co-manipulation scenario.
Missing: localization assisted endoscopic
Dong L, Morel G (2016) Robust trocar detection and localization during robot-assisted endoscopic surgery. In: Proceedings: IEEE international conference on ...