Vision Module for Automatic Tracking on Bedside Intelligent Scope-Holding Surgical Robot System

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-24 DOI:10.1002/rcs.70046

Tingting Wang, Mingyu Yin, Shunkai Shi, Zerun Yang

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Abstract

Background

This study aims to develop an active following technology of the mirror-holding arm of a bedside intelligent surgical robot that enables real-time automatic tracking of surgical instruments.

Methods

The semantic segmentation network was adaptively enhanced, and new datasets were collected with surgical clamps as the target, incorporating scenarios commonly encountered during surgical procedures. In addition, the position of the clamp was determined, and the range and mode of motion of the robot arm were set. Based on the above premise, the control rate was designed and verified using an endoscopic surgery simulation platform.

Results

The average time for the collaborative arm to reach the centre of the field of view was 2.51 s, with a variance of 0.32.

Conclusions

The results of this study validate the effectiveness of replacing manual endoscope holding with a robotic arm, which has great potential to facilitate more efficient endoscopic surgical procedures.

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.