Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery.

ABSTRACT: The segmentation of continuum robots in medical images can be of interest for analyzing surgical procedures or for controlling them. However, the automatic segmentation of continuous and flexible shapes is not an easy task. On one hand conventional approaches are not adapted to the specificities of these instruments, such as imprecise kinematic models, and on the other hand techniques based on deep-learning showed interesting capabilities but need many manually labeled images. In this article we propose a novel approach for segmenting continuum robots on endoscopic images, which requires no prior on the instrument visual appearance and no manual annotation of images. The method relies on the use of the combination of kinematic models and differential kinematic models of the robot and the a

SUBMITTER: Rosa B 

PROVIDER: S-EPMC7805658 | biostudies-literature | 2019

REPOSITORIES: biostudies-literature