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Robotic assistance enables a surgeon to perform dexterous and precise manipulations. However, conducting robot assisted neurosurgery within the deep and narrow spaces of the brain presents the risk of unexpected collisions between the shafts of robotic instruments and their surroundings out of the microscopic view. Thus, we propose the provision of feedback using a truncated cone shaped virtual fixture...
Advanced robotic assistance in microsurgery, such as automation, requires an accurate estimation of the state of the robotic forceps. In this paper, we propose a robust and accurate forceps tracking method to estimate the full state of the forceps (i.e., the position, posture, and grip parameters) using visual information obtained from stereo microscopic images and kinematic information obtained from...
Forceps tracking is an important element of high-level surgical assistance such as visual servoing and surgical motion analysis. In many computer vision algorithms, artificial markers are used to enable robust tracking; however, markerless tracking methods are more appropriate in surgical applications due to their sterilizability. This paper describes a robust, efficient tracking algorithm capable...
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