Open-source High-precision Autonomous Suturing Framework With Visual Guidance
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2022
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| _version_ | 1866909211806400512 |
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| author | Lin, Hongbin Li, Bin Liu, Yunhui Au, Kwok Wai Samuel |
| author_facet | Lin, Hongbin Li, Bin Liu, Yunhui Au, Kwok Wai Samuel |
| contents | Autonomous surgery has attracted increasing attention for revolutionizing robotic patient care, yet remains a distant and challenging goal. In this paper, we propose an image-based framework for high-precision autonomous suturing operation. We first build an algebraic geometric algorithm to achieve accurate needle pose estimation, then design the corresponding keypoint-based calibration network for joint-offset compensation, and further plan and control suture trajectory. Our solution ranked first among all competitors in the AccelNet Surgical Robotics Challenge. Videos and codes can be found in https://sites.google.com/view/accel-2022-cuhk. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2210_01406 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Open-source High-precision Autonomous Suturing Framework With Visual Guidance Lin, Hongbin Li, Bin Liu, Yunhui Au, Kwok Wai Samuel Robotics Autonomous surgery has attracted increasing attention for revolutionizing robotic patient care, yet remains a distant and challenging goal. In this paper, we propose an image-based framework for high-precision autonomous suturing operation. We first build an algebraic geometric algorithm to achieve accurate needle pose estimation, then design the corresponding keypoint-based calibration network for joint-offset compensation, and further plan and control suture trajectory. Our solution ranked first among all competitors in the AccelNet Surgical Robotics Challenge. Videos and codes can be found in https://sites.google.com/view/accel-2022-cuhk. |
| title | Open-source High-precision Autonomous Suturing Framework With Visual Guidance |
| topic | Robotics |
| url | https://arxiv.org/abs/2210.01406 |