Hybrid Tracking Module for Real-Time Tool Tracking for an Autonomous Exoscope
Elisa Iovene,
Diego Cattaneo,
Junling Fu
et al.
Abstract:Exoscopes have emerged as a promising visual solution within the field of microneurosurgery. However, manual repositioning poses a challenge causing interruptions that disrupt the surgical flow. Thus, the need for hands-free exoscope control arises. This paper introduces a position-based visual-servoing control approach, comprising a detection module, a hybrid tracking module, and a control module that adjusts a robotic camera holder to follow a surgical tool. The hybrid module was integrated to track and pred… Show more
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