TY - GEN
T1 - Robust image-based computation of the 3D position of RCM instruments and its application to image-guided manipulation
AU - Navarro-Alarcon, David
AU - Wang, Zerui
AU - Yip, Hiu Man
AU - Liu, Yun Hui
AU - Zhong, Fangxun
AU - Zhang, Tianxue
AU - Shi, Jiadong
AU - Wang, Hesheng
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - In this paper, we address the 3D position control of RCM-constrained instruments with monocular cameras. To compute the instrument's position from a single 2D image, we develop an innovative gradient descent algorithm which rotates and translates a line segment (over the plane spanned by the imaged instrument and the optical centre) until it best aligns with the manipulated tool. In contrast with other approaches in the literature, our algorithm only requires to simultaneously observe two feature points; the proposed iterative algorithm is not based on the exact solution, therefore it can still work with noisy image measurements. We derive a kinematic controller that uses the proposed position estimator to guide the 3D motion of a robotic instrument with a monocular camera. We evaluate the performance of our approach with numerical simulations and experiments.
AB - In this paper, we address the 3D position control of RCM-constrained instruments with monocular cameras. To compute the instrument's position from a single 2D image, we develop an innovative gradient descent algorithm which rotates and translates a line segment (over the plane spanned by the imaged instrument and the optical centre) until it best aligns with the manipulated tool. In contrast with other approaches in the literature, our algorithm only requires to simultaneously observe two feature points; the proposed iterative algorithm is not based on the exact solution, therefore it can still work with noisy image measurements. We derive a kinematic controller that uses the proposed position estimator to guide the 3D motion of a robotic instrument with a monocular camera. We evaluate the performance of our approach with numerical simulations and experiments.
UR - https://www.scopus.com/pages/publications/84977491169
U2 - 10.1109/ICRA.2016.7487603
DO - 10.1109/ICRA.2016.7487603
M3 - 会议稿件
AN - SCOPUS:84977491169
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4115
EP - 4121
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -