Skip to main content

Autonomous scanning for endomicroscopic mosaicing and 3D fusion

Zhang, Lin, Ye, Menglong, Giataganas, Petros, Hughes, Michael, Yang, Guang-Zhong (2017) Autonomous scanning for endomicroscopic mosaicing and 3D fusion. In: IEEE International Conference on Robotics and Automation (ICRA), 29th May- 3rd June 2017, Singapore. (doi:10.1109/ICRA.2017.7989412) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided)

The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided. (Contact us about this Publication)
Official URL
https://doi.org/10.1109/ICRA.2017.7989412

Abstract

Robot-assisted minimally invasive surgery can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex, undulating tissue surface to enhance the effective field-of-view through video mosaicing. In this paper, the da Vinci® surgical robot, through the dVRK framework, is used for autonomous scanning and 2D mosaicing over a user-defined region of interest. To achieve the level of precision required for high quality mosaic generation, which relies on sufficient overlap between consecutive image frames, visual servoing is performed using a combination of a tracking marker attached to the probe and the endomicroscopy images themselves. The resulting sub-millimetre accuracy of the probe motion allows for the generation of large mosaics with minimal intervention from the surgeon. Images are streamed from the endomicroscope and overlaid live onto the surgeons view, while 2D mosaics are generated in real-time, and fused into a 3D stereo reconstruction of the surgical scene, thus providing intuitive visualisation and fusion of the multi-scale images. The system therefore offers significant potential to enhance surgical procedures, by providing the operator with cellular-scale information over a larger area than could typically be achieved by manual scanning.

Item Type: Conference or workshop item (Paper)
DOI/Identification number: 10.1109/ICRA.2017.7989412
Uncontrolled keywords: Probes; trajectory; three-dimensional displays; robots; surface reconstruction; cameras; surgery.
Subjects: Q Science
Divisions: Faculties > Sciences > School of Physical Sciences
Faculties > Sciences > School of Physical Sciences > Applied Optics Group
Depositing User: Michael Hughes
Date Deposited: 16 Aug 2017 10:59 UTC
Last Modified: 01 Aug 2019 10:42 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/62856 (The current URI for this page, for reference purposes)
Hughes, Michael: https://orcid.org/0000-0001-5301-2492
  • Depositors only (login required):