Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/106385
DC Field | Value | Language |
---|---|---|
dc.contributor | Department of Mechanical Engineering | - |
dc.creator | Lu, B | - |
dc.creator | Chu, HK | - |
dc.creator | Huang, K | - |
dc.creator | Lai, J | - |
dc.date.accessioned | 2024-05-09T00:53:09Z | - |
dc.date.available | 2024-05-09T00:53:09Z | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | http://hdl.handle.net/10397/106385 | - |
dc.language.iso | en | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
dc.rights | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
dc.rights | The following publication B. Lu, H. K. Chu, K. Huang and J. Lai, "Surgical Suture Thread Detection and 3-D Reconstruction Using a Model-Free Approach in a Calibrated Stereo Visual System," in IEEE/ASME Transactions on Mechatronics, vol. 25, no. 2, pp. 792-803, April 2020 is available at https://doi.org/10.1109/TMECH.2019.2942715. | en_US |
dc.subject | Computer vision for medical robotics | en_US |
dc.subject | Perception for grasping and manipulation | en_US |
dc.subject | Stereo camera | en_US |
dc.title | Surgical suture thread detection and 3-d reconstruction using a model-free approach in a calibrated stereo visual system | en_US |
dc.type | Journal/Magazine Article | en_US |
dc.identifier.spage | 792 | - |
dc.identifier.epage | 803 | - |
dc.identifier.volume | 25 | - |
dc.identifier.issue | 2 | - |
dc.identifier.doi | 10.1109/TMECH.2019.2942715 | - |
dcterms.abstract | In robot-assisted surgery (RAS), three-dimensional (3-D) position estimation of a surgical suture thread is essential in automating the wound suturing procedure. Nevertheless, accurate suture thread's segmentation and its 3-D coordinates reconstruction remain challenging because of its flexible property and lacking indistinctive feature points. In this paper, a novel model-free method is proposed to enable the 3-D computation of a suture thread through a calibrated stereo camera system. In this method, only the suture thread's tip and grasping points need to be indicated on one image with mouse clicks, and their accurate image positions can be detected using computed contour information. Afterward, key points that represent the suture thread are generated on one image, while their matched points on the second camera frame are evaluated through an iterative algorithm for 3-D model reconstruction. Experiments using different backgrounds and environmental conditions were conducted to examine the accuracy and robustness of the 2-D segmentation. The suture threads were then formed in various 3-D shapes, and their respective 3-D models were reconstructed for comparison. The experimental results confirm the feasibility of our method in reducing human intervention in the detection of matched key points on an image pair, thereby guaranteeing an accurate 3-D coordinates computation of a suture thread. | - |
dcterms.accessRights | open access | en_US |
dcterms.bibliographicCitation | IEEE/ASME transactions on mechatronics, Apr. 2020, v. 25, no. 2, p. 792-803 | - |
dcterms.isPartOf | IEEE/ASME transactions on mechatronics | - |
dcterms.issued | 2020-04 | - |
dc.identifier.scopus | 2-s2.0-85083302808 | - |
dc.identifier.eissn | 1941-014X | - |
dc.description.validate | 202405 bcch | - |
dc.description.oa | Accepted Manuscript | en_US |
dc.identifier.FolderNumber | ME-0291 | en_US |
dc.description.fundingSource | RGC | en_US |
dc.description.pubStatus | Published | en_US |
dc.identifier.OPUS | 21547466 | en_US |
dc.description.oaCategory | Green (AAM) | en_US |
Appears in Collections: | Journal/Magazine Article |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
Lu_Surgical_Suture_Thread.pdf | Pre-Published version | 6.52 MB | Adobe PDF | View/Open |
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