RT Conference Proceedings
T1 Surgical Tools Pose Estimation for a Multimodal HMI of a Surgical Robotic Assistant
A1 Estébanez-Campos, María Belén
A1 Bauzano-Núñez, Enrique
A1 Muñoz-Martínez, Víctor Fernando
K1 Robótica - Cirugía
K1 Cirugía -- Aparatos e instrumentos
AB The main objective of this paper is to minimize the occluded areas in order to recognize the navigation of the surgeon’s tools for a two-arm autonomous robotic system for laparoscopic procedures. This robotic assistant needs the tracking of the surgeon’s surgical gestures in order to recognize the current maneuver and to execute the automated tasks of the robot. The surgical tools pose estimation is carried out by a Multiple Extended Kalman Filter (MEKF), where the movement models of the surgical tools depend on the maneuver which is being developed. This information is obtained by a maneuvers recognition system which is a part of the multimodal human machine interface (HMI) of the robot. The method proposed for reducing shadows has been applied to three invitro maneuvers which appear in the majority of the surgical protocols. The experiments show the behavior of this method for different time intervals of the occlusions.
YR 2011
FD 2011
LK https://hdl.handle.net/10630/33671
UL https://hdl.handle.net/10630/33671
LA eng
NO Estebanez-Campos B.; Bauzano E.; Muñoz V.F. Surgical Tools Pose Estimation for a Multimodal HMI of a Surgical Robotic Assistant. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2011. pp: 2121-2126. https://doi.org/10.1109/IROS.2011.6094812
NO P07-TEP-02897
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 22 ene 2026