Adaptive 3D pose computation of suturing needle using constraints from static monocular image feedback

Image‐Based 3D Pose Reconstruction of Surgical Needle for Robot‐Assisted Laparoscopic Suturing

“…which shows that λ 1 and λ 2 , i.e. the positions of the endpoints, can be determined by a single parameter q 1 since the 2×2 matrix G 1 is always invertible [11] . More importantly, since the midpoint of m 1 and m 2 is coincided with the centre of the fitted circle from the needle, i.e.…”

“…Note that no external markers or extra modifications are needed in terms of either the needle or other surgical tools. We first propose a new constrained modelling method to parametrise the full 3D pose of the needle using only two newly-defined parameters extended from our previous study [11] . An iterative algorithm is then presented to determine the actual values of the new parameters based on the image feedback.…”

Integrated planning and control of robotic surgical instruments for task autonomy

“…We have proposed an efficient and autonomous robot-camera calibration approach to compute the robotic instrument’s pose from a monocular camera for vision-guided instrument manipulation (Zhong et al, 2020). Aiming for autonomous suturing, a monocular-based 6-degree-of-freedom (6-DoF) pose estimation algorithm of a surgical needle has been developed (Zhong et al, 2016; Zhong & Liu, 2018), which was later implemented to a dual-arm needle insertion control scheme to increase needle insertion accuracy under deformation (Zhong et al, 2019).…”