Evidence map›Paper›PMID 32808149›Full record

ArticleInternational journal of computer assisted radiology and surgery2020

Vision-based hand-eye calibration for robot-assisted minimally invasive surgery.

Yanwen Sun, Bo Pan, Yongchen Guo, Yili Fu, Guojun Niu

Abstract read
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In one paragraph

Article in International journal of computer assisted radiology and surgery, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers, 1 of them a synthesis that pooled it.

0numbers the graph read from it
0cells of the map it votes in
5citing papers in PubMed, 1 pooled it
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

5 citing papers in PubMed, 1 synthesis or guideline pooled it.

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4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

5 authors.

Yanwen SunState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.
Bo PanState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China. panbo4034@163.com.
Yongchen GuoState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.
Yili FuState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.
Guojun NiuSchool of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, China.

Funding

Foundation for Innovative Research Groups of the National Natural Science Foundation of China 51521003National Science Foundation of China 61803341State Key Laboratory of Robotics and Systems SKLRS202009B
6 · The paper itself

Abstract

purposeThe knowledge of laparoscope vision can greatly improve the surgical operation room (OR) efficiency. For the vision-based computer-assisted surgery, the hand-eye calibration establishes the coordinate relationship between laparoscope and robot slave arm. While significant advances have been made for hand-eye calibration in recent years, efficient algorithm for minimally invasive surgical robot is still a major challenge. Removing the external calibration object in abdominal environment to estimate the hand-eye transformation is still a critical problem.

methodsWe propose a novel hand-eye calibration algorithm to tackle the problem which relies purely on surgical instrument already in the operating scenario for robot-assisted minimally invasive surgery (RMIS). Our model is formed by the geometry information of the surgical instrument and the remote center-of-motion (RCM) constraint. We also enhance the algorithm with stereo laparoscope model.

resultsPromising validation of synthetic simulation and experimental surgical robot system have been conducted to evaluate the proposed method. We report results that the proposed method can exhibit the hand-eye calibration without calibration object.

conclusionVision-based hand-eye calibration is developed. We demonstrate the feasibility to perform hand-eye calibration by taking advantage of the components of surgical robot system, leading to the efficiency of surgical OR.

Indexed as

LaparoscopesAbdomenAlgorithmsCalibrationHandHumansMinimally Invasive Surgical ProceduresMotionRobotic Surgical ProceduresHand–eye calibrationMinimally invasive surgeryStereo laparoscopeSurgical robot

Identifiers

PMID32808149

What OpenQuestion holds

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Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.