论文标题
改进机器人手术的刚性3D校准
Improving rigid 3D calibration for robotic surgery
论文作者
论文摘要
自主性是机器人手术研究的前沿，其目的是提高下一份手术程序的质量。自治的一个基本要求是通过视觉传感器的高级感知能力。在本文中，我们提出了一种新型的校准技术，用于使用Da Vinci机器人进行手术场景。相机和机器人的校准对于精确定位工具是为了模仿高性能外科医生所必需的。我们的校准技术是针对RGB-D相机量身定制的。对相关用例进行手术的不同测试证明，我们在手术大小的设置上针对类似设备的最先进的解决方案可以显着提高精度和准确性。此外，我们的校准方法可以轻松地扩展到标准的手术内窥镜，以促使其在实际手术方案中使用。
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In this paper, we propose a novel calibration technique for a surgical scenario with da Vinci robot. Calibration of the camera and the robot is necessary for precise positioning of the tools in order to emulate the high performance surgeons. Our calibration technique is tailored for RGB-D camera. Different tests performed on relevant use cases for surgery prove that we significantly improve precision and accuracy with respect to the state of the art solutions for similar devices on a surgical-size setup. Moreover, our calibration method can be easily extended to standard surgical endoscope to prompt its use in real surgical scenario.
