Evaluation of Increasing Camera Baseline on Depth Perception in Surgical Robotics
Apeksha Avinash,Alaa Eldin Abdelaal,Septimiu E. Salcudean,Apeksha Avinash,Alaa Eldin Abdelaal,Septimiu E. Salcudean
In this paper, we evaluate the effect of increasing camera baselines on depth perception in robot-assisted surgery. Restricted by the diameter of the surgical trocar through which they are inserted, current clinical stereo endoscopes have a fixed baseline of 5.5 mm. To overcome this restriction, we propose using a stereoscopic "pickup" camera with a side-firing design that allows for larger baseli...
