发明名称 |
MARKERLESS TRACKING OF ROBOTIC SURGICAL TOOLS |
摘要 |
Appearance learning systems, methods and computer products for three-dimensional markerless tracking of robotic surgical tools. An appearance learning approach is provided that is used to detect and track surgical robotic tools in laparoscopic sequences. By training a robust visual feature descriptor on low-level landmark features, a framework is built for fusing robot kinematics and 3D visual observations to track surgical tools over long periods of time across various types of environments. Three-dimensional tracking is enabled on multiple tools of multiple types with different overall appearances. The presently disclosed subject matter is applicable to surgical robot systems such as the da Vinci® surgical robot in both ex vivo and in vivo environments. |
申请公布号 |
CA2933684(A1) |
申请公布日期 |
2014.06.19 |
申请号 |
CA20132933684 |
申请日期 |
2013.12.13 |
申请人 |
THE TRUSTEES OF COLUMBIA UNIVERSITY IN THE CITY OF NEW YORK |
发明人 |
REITER, AUSTIN;ALLEN, PETER K. |
分类号 |
A61B34/20;A61B1/045;A61B34/30 |
主分类号 |
A61B34/20 |
代理机构 |
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