论文标题
Raven II手术机器人的反应性自动摄像机系统
A Reactive Autonomous Camera System for the RAVEN II Surgical Robot
论文作者
论文摘要
外科机器人的内窥镜摄像头为外科医生提供了对手术区域的3D视图，但重新定位它会增加心理工作量和操作时间。当手术工具从相机的视野中移出时，相机放置不佳会导致关键事件。本文为Raven II外科机器人提供了自主摄像机系统的概念证明，该机器人旨在通过提供所有感兴趣的对象的工作空间来减少外科医生的工作量并提高安全性。该系统使用传输学习来在立体相机的视图中本地化和分类感兴趣的对象。估计对象的位置和质心，一组控制规则确定了相机向所需的视图的移动。我们的感知模块的准确度为61.21％，用于识别感兴趣的对象，并且能够在环境中定位抓地力和多个块。对我们系统提出的命令与对13个参与者的调查的所需命令的比较表明，自动摄像机系统为摄像机的倾斜和平底锅提出了适当的运动。
The endoscopic camera of a surgical robot provides surgeons with a magnified 3D view of the surgical field, but repositioning it increases mental workload and operation time. Poor camera placement contributes to safety-critical events when surgical tools move out of the view of the camera. This paper presents a proof of concept of an autonomous camera system for the Raven II surgical robot that aims to reduce surgeon workload and improve safety by providing an optimal view of the workspace showing all objects of interest. This system uses transfer learning to localize and classify objects of interest within the view of a stereoscopic camera. The positions and centroid of the objects are estimated and a set of control rules determines the movement of the camera towards a more desired view. Our perception module had an accuracy of 61.21% overall for identifying objects of interest and was able to localize both graspers and multiple blocks in the environment. Comparison of the commands proposed by our system with the desired commands from a survey of 13 participants indicates that the autonomous camera system proposes appropriate movements for the tilt and pan of the camera.
