Image-Based Trajectory Tracking Control of 4-DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker
Zerui Wang, Sing Chun Lee, Fangxun Zhong, David Navarro-Alarcon, Yunhui Liu, Anton Deguet, Peter Kazanzides, Russell H. Taylor
Abstract
In this letter, we propose a new method to fully control complete 4-image-DoF manipulation of laparoscopic instruments [with remote center of motion (RCM) mechanism] based on the geometric features of a designed marker in a 2-D image. Our marker encodes the configuration of the instruments by computing geometric features among the projected image points from segmented areas in hue-saturation-value (HSV) space. We can then construct an image geometric feature vector to locally characterize the configuration of a laparoscopic instrument. Furthermore, we design an image-based kinematic controller to asymptotically track a planned trajectory using the constructed feature vector as the feedback. We evaluate our integration of rotation distinguishing marker and kinematic controller by several experiments in terms of illumination-invariance, rotation angle accuracy, and controller performance.
BibTeX
@inproceedings{ral2017_imagebasedtrajec,
title = {Image-Based Trajectory Tracking Control of 4-DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker},
author = {Zerui Wang and Sing Chun Lee and Fangxun Zhong and David Navarro-Alarcon and Yunhui Liu and Anton Deguet and Peter Kazanzides and Russell H. Taylor},
booktitle = {RA-L 2017},
year = {2017}
}