Laparoscopic instrument tip position estimation for visual and haptic guidance in the computer assisted surgical trainer

Minsik Hong, Kuo Shiuan Peng, Victoria Lundine, Jerzy W Rozenblit

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

A mathematical model of 4 degrees of freedom of forward and inverse kinematics is presented to provide visual and haptic guidance for laparoscopic surgery skills training. Also, a particle swarm optimization technique with color marker detection is used to estimate the instrument tip position accurately. Using a simple heuristic for the visual guidance, inverse kinematics solutions are calculated in real-time, which the haptic guidance uses as well. The experimental results illustrate the effectiveness of the proposed method.

Original languageEnglish (US)
Title of host publication2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3083-3088
Number of pages6
Volume2017-January
ISBN (Electronic)9781538616451
DOIs
StatePublished - Nov 27 2017
Event2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017 - Banff, Canada
Duration: Oct 5 2017Oct 8 2017

Other

Other2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
CountryCanada
CityBanff
Period10/5/1710/8/17

Keywords

  • Haptic guidance
  • Inverse Kinematics
  • Particle Swarm Optimization
  • Surgical Training
  • Visual Guidance

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Human-Computer Interaction
  • Control and Optimization

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  • Cite this

    Hong, M., Peng, K. S., Lundine, V., & Rozenblit, J. W. (2017). Laparoscopic instrument tip position estimation for visual and haptic guidance in the computer assisted surgical trainer. In 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017 (Vol. 2017-January, pp. 3083-3088). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2017.8123100