Matches in SemOpenAlex for { <https://semopenalex.org/work/W2098074239> ?p ?o ?g. }
Showing items 1 to 86 of
86
with 100 items per page.
- W2098074239 endingPage "327" @default.
- W2098074239 startingPage "314" @default.
- W2098074239 abstract "This paper presents an endoscopic vision framework for model-based 3D guidance of surgical instruments used in robotized laparoscopic surgery. In order to develop such a system, a variety of challenging segmentation, tracking and reconstruction problems must be solved. With this minimally invasive surgical technique, every single instrument has to pass through an insertion point in the abdominal wall and is mounted on the end-effector of a surgical robot which can be controlled by automatic visual feedback. The motion of any laparoscopic instrument is then constrained and the goal of the automated task is to safety bring instruments at desired locations while avoiding undesirable contact with internal organs. For this ”eye-to-hands” configuration with a stationary camera, most control strategies require the knowledge of the out-of-field of view insertion points location and we demonstrate it can be achieved in vivo thanks to a sequence of (instrument) motions without markers and without the need of an external measurement device. In so doing, we firstly present a real-time region-based color segmentation which integrates this motion constraint to initiate the search for region seeds. Secondly, a novel pose algorithm for the wide class of cylindrical-shaped instruments is developed which can handle partial occlusions as it is often the case in the abdominal cavity. The foreseen application is a good training ground to evaluate the robustness of segmentation algorithms and positioning techniques since main difficulties came from the scene understanding and its dynamical variations. Experiments in the lab and in real surgical conditions have been conducted. The experimental validation is demonstrated through the 3D positioning of instruments’ axes (4 DOFs) which must lead to motionless insertion points disturbed by the breathing motion." @default.
- W2098074239 created "2016-06-24" @default.
- W2098074239 creator A5071783802 @default.
- W2098074239 creator A5076594666 @default.
- W2098074239 creator A5080665291 @default.
- W2098074239 date "2007-01-01" @default.
- W2098074239 modified "2023-09-25" @default.
- W2098074239 title "Segmentation and Guidance of Multiple Rigid Objects for Intra-operative Endoscopic Vision" @default.
- W2098074239 cites W1971523475 @default.
- W2098074239 cites W1978331429 @default.
- W2098074239 cites W1993349782 @default.
- W2098074239 cites W2097361087 @default.
- W2098074239 cites W2098701449 @default.
- W2098074239 cites W2112578841 @default.
- W2098074239 cites W2116670703 @default.
- W2098074239 cites W2117083552 @default.
- W2098074239 cites W2126819419 @default.
- W2098074239 cites W2138835141 @default.
- W2098074239 cites W4205716522 @default.
- W2098074239 cites W4248304976 @default.
- W2098074239 doi "https://doi.org/10.1007/978-3-540-70932-9_24" @default.
- W2098074239 hasPublicationYear "2007" @default.
- W2098074239 type Work @default.
- W2098074239 sameAs 2098074239 @default.
- W2098074239 citedByCount "23" @default.
- W2098074239 countsByYear W20980742392012 @default.
- W2098074239 countsByYear W20980742392013 @default.
- W2098074239 countsByYear W20980742392014 @default.
- W2098074239 countsByYear W20980742392016 @default.
- W2098074239 countsByYear W20980742392018 @default.
- W2098074239 countsByYear W20980742392019 @default.
- W2098074239 countsByYear W20980742392020 @default.
- W2098074239 countsByYear W20980742392023 @default.
- W2098074239 crossrefType "book-chapter" @default.
- W2098074239 hasAuthorship W2098074239A5071783802 @default.
- W2098074239 hasAuthorship W2098074239A5076594666 @default.
- W2098074239 hasAuthorship W2098074239A5080665291 @default.
- W2098074239 hasConcept C104317684 @default.
- W2098074239 hasConcept C141071460 @default.
- W2098074239 hasConcept C154945302 @default.
- W2098074239 hasConcept C185592680 @default.
- W2098074239 hasConcept C2524010 @default.
- W2098074239 hasConcept C2778181360 @default.
- W2098074239 hasConcept C28719098 @default.
- W2098074239 hasConcept C31972630 @default.
- W2098074239 hasConcept C33923547 @default.
- W2098074239 hasConcept C41008148 @default.
- W2098074239 hasConcept C55493867 @default.
- W2098074239 hasConcept C63479239 @default.
- W2098074239 hasConcept C71924100 @default.
- W2098074239 hasConcept C89600930 @default.
- W2098074239 hasConcept C90509273 @default.
- W2098074239 hasConceptScore W2098074239C104317684 @default.
- W2098074239 hasConceptScore W2098074239C141071460 @default.
- W2098074239 hasConceptScore W2098074239C154945302 @default.
- W2098074239 hasConceptScore W2098074239C185592680 @default.
- W2098074239 hasConceptScore W2098074239C2524010 @default.
- W2098074239 hasConceptScore W2098074239C2778181360 @default.
- W2098074239 hasConceptScore W2098074239C28719098 @default.
- W2098074239 hasConceptScore W2098074239C31972630 @default.
- W2098074239 hasConceptScore W2098074239C33923547 @default.
- W2098074239 hasConceptScore W2098074239C41008148 @default.
- W2098074239 hasConceptScore W2098074239C55493867 @default.
- W2098074239 hasConceptScore W2098074239C63479239 @default.
- W2098074239 hasConceptScore W2098074239C71924100 @default.
- W2098074239 hasConceptScore W2098074239C89600930 @default.
- W2098074239 hasConceptScore W2098074239C90509273 @default.
- W2098074239 hasLocation W20980742391 @default.
- W2098074239 hasOpenAccess W2098074239 @default.
- W2098074239 hasPrimaryLocation W20980742391 @default.
- W2098074239 hasRelatedWork W1669643531 @default.
- W2098074239 hasRelatedWork W2005437358 @default.
- W2098074239 hasRelatedWork W2008656436 @default.
- W2098074239 hasRelatedWork W2035976912 @default.
- W2098074239 hasRelatedWork W2039154422 @default.
- W2098074239 hasRelatedWork W2109974539 @default.
- W2098074239 hasRelatedWork W2517104666 @default.
- W2098074239 hasRelatedWork W2541791370 @default.
- W2098074239 hasRelatedWork W2738084969 @default.
- W2098074239 hasRelatedWork W2182382398 @default.
- W2098074239 isParatext "false" @default.
- W2098074239 isRetracted "false" @default.
- W2098074239 magId "2098074239" @default.
- W2098074239 workType "book-chapter" @default.