Stereo image-based arm tracking for in vivo surgical robotics

Eric Psota; Kyle Strabala; Jason Dumpert; Lance C Pérez; Shane Farritor; Dmitry Oleynikov

Stereo image-based arm tracking for in vivo surgical robotics

Stud Health Technol Inform. 2011:163:454-60.

Authors

Eric Psota¹, Kyle Strabala, Jason Dumpert, Lance C Pérez, Shane Farritor, Dmitry Oleynikov

Affiliation

¹ University of Nebraska-Lincoln, Department of Electrical Engineering, NE, USA.

PMID: 21335838

Abstract

Motor-based tracking and image-based tracking are considered for three-dimensional in vivo tracking of the arms of a surgical robot during minimally invasive surgery. Accurate tracking is necessary for tele-medical applications and for the future automation of surgical procedures. An experiment is performed to compare the accuracy of the two methods, and results show that the positioning error of image-based tracking is significantly less than that of motor-based tracking.

Publication types

Research Support, Non-U.S. Gov't

MeSH terms

Image Interpretation, Computer-Assisted / methods*
Imaging, Three-Dimensional / methods*
Pattern Recognition, Automated / methods*
Photogrammetry / methods*
Robotics / methods*
Surgery, Computer-Assisted / methods*
User-Computer Interface*