ArticleSensors (Basel, Switzerland)2023
Full-Perception Robotic Surgery Environment with Anti-Occlusion Global-Local Joint Positioning.
Article in Sensors (Basel, Switzerland), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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6 authors.
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Abstract
The robotic surgery environment represents a typical scenario of human-robot cooperation. In such a scenario, individuals, robots, and medical devices move relative to each other, leading to unforeseen mutual occlusion. Traditional methods use binocular OTS to focus on the local surgical site, without considering the integrity of the scene, and the work space is also restricted. To address this challenge, we propose the concept of a fully perception robotic surgery environment and build a global-local joint positioning framework. Furthermore, based on data characteristics, an improved Kalman filter method is proposed to improve positioning accuracy. Finally, drawing from the view margin model, we design a method to evaluate positioning accuracy in a dynamic occlusion environment. The experimental results demonstrate that our method yields better positioning results than classical filtering methods.
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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.