Orhan Özgüner — accepted AI-conference papers

2018

Three-Dimensional Surgical Needle Localization and Tracking Using Stereo Endoscopic Image Streams

Orhan Özgüner, Ran Hao, Russell C. Jackson, Tom Shkurti, Wyatt Newman, M. Cenk Cavusoglu

ICRA 2018poster

This paper presents algorithms for three-dimensional tracking of surgical needles using the stereo endoscopic camera images obtained from the da Vinci® Surgical Robotic System. The proposed method employs Bayesian state estimation, computer vision techniques, and robot kinematics. A virtual needle r…

Cited by 21 Source ↗Scholar ↗

2018

Vision-Based Surgical Tool Pose Estimation for the da Vinci® Robotic Surgical System

Ran Hao, Orhan Özgüner, M. Cenk Çavuşoğlu

IROS 2018poster

This paper presents an approach to surgical tool tracking using stereo vision for the da Vinci® Surgical Robotic System. The proposed method is based on robot kinematics, computer vision techniques and Bayesian state estimation. The proposed method employs a silhouette rendering algorithm to create…

Cited by 49 Source ↗Scholar ↗