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- Title
Full-Perception Robotic Surgery Environment with Anti-Occlusion Global–Local Joint Positioning.
- Authors
Wang, Hongpeng; Liu, Tianzuo; Chen, Jianren; Fan, Chongshan; Qin, Yanding; Han, Jianda
- Abstract
The robotic surgery environment represents a typical scenario of human–robot cooperation. In such a scenario, individuals, robots, and medical devices move relative to each other, leading to unforeseen mutual occlusion. Traditional methods use binocular OTS to focus on the local surgical site, without considering the integrity of the scene, and the work space is also restricted. To address this challenge, we propose the concept of a fully perception robotic surgery environment and build a global–local joint positioning framework. Furthermore, based on data characteristics, an improved Kalman filter method is proposed to improve positioning accuracy. Finally, drawing from the view margin model, we design a method to evaluate positioning accuracy in a dynamic occlusion environment. The experimental results demonstrate that our method yields better positioning results than classical filtering methods.
- Subjects
SURGICAL robots; SURGICAL site; MEDICAL equipment; KALMAN filtering; MULTISENSOR data fusion
- Publication
Sensors (14248220), 2023, Vol 23, Issue 20, p8637
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s23208637