Towards Autonomous Control of Surgical Instruments using Adaptive-Fusion Tracking and Robot Self-Calibration
Chiyu Wang,João Cartucho,Daniel Elson,Ara Darzi,Stamatia Giannarou,Chiyu Wang,João Cartucho,Daniel Elson,Ara Darzi,Stamatia Giannarou
The ability to track surgical instruments in realtime is crucial for autonomous Robotic Assisted Surgery (RAS). Recently, the fusion of visual and kinematic data has been proposed to track surgical instruments. However, these methods assume that both sensors are equally reliable, and cannot successfully handle cases where there are significant perturbations in one of the sensors' data. In this pap...
