不確実性推定を備えたマーカーレス縫合針6D姿勢追跡による低侵襲手術の自律化
Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery
マーカーなしの不安定な検出結果から縫合針の6D姿勢を確率的に統合して頑健に追跡する手法を提案し、自律的な針の把持替え実験で有効性を示した。
著者: Zih-Yun Chiu, Albert Z Liao, Florian Richter, Bjorn Johnson, Michael C. Yip
分類: cs.RO, cs.CV
原文アブストラクト
Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection schemes for localizing a suture needle due to the inconsistency of markerless detections. However, fiducial markers are not practical for real-world applications and can often be occluded from environmental factors in surgery (e.g., blood). Therefore in this work, we present a robust tracking approach for estimating the 6D pose of a suture needle when using inconsistent detections. We define observation models based on suture needles' geometry that captures the uncertainty of the detections and fuse them temporally in a probabilistic fashion. In our experiments, we compare different permutations of the observation models in the suture needle localization task to show their effectiveness. Our proposed method outperforms previous approaches in localizing a suture needle. We also demonstrate the proposed tracking method in an autonomous suture needle regrasping task and ex vivo environments.
