title: Stereo image-based arm tracking for in vivo surgical robotics.
abstract: Motor-based tracking and image-based tracking are considered for three-dimensional in vivo tracking of the arms of a surgical robot during minimally invasive surgery. Accurate tracking is necessary for tele-medical applications and for the future automation of surgical procedures. An experiment is performed to compare the accuracy of the two methods, and results show that the positioning error of image-based tracking is significantly less than that of motor-based tracking.
authors.affiliation: University of Nebraska-Lincoln, Department of Electrical Engineering, NE, USA.
authors.forename: Eric
authors.initials: E
authors.lastname: Psota
authors.forename: Kyle
authors.initials: K
authors.lastname: Strabala
authors.forename: Jason
authors.initials: J
authors.lastname: Dumpert
authors.forename: Lance C
authors.initials: LC
authors.lastname: Pérez
authors.forename: Shane
authors.initials: S
authors.lastname: Farritor
authors.forename: Dmitry
authors.initials: D
authors.lastname: Oleynikov
mesh_terms: D007090:Image Interpretation, Computer-Assisted / Q000379:methods*; D021621:Imaging, Three-Dimensional / Q000379:methods*; D010363:Pattern Recognition, Automated / Q000379:methods*; D010780:Photogrammetry / Q000379:methods*; D012371:Robotics / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000379:methods*; D014584:User-Computer Interface