Vasconcelos, F, Mazomenos, E orcid.org/0000-0003-0357-5996, Kelly, J et al. (1 more author) (2019) RCM-SLAM: Visual localisation and mapping under remote centre of motion constraints. In: 2019 International Conference on Robotics and Automation (ICRA). 2019 International Conference on Robotics and Automation (ICRA), 20-24 May 2019, Montreal, Canada. IEEE , pp. 9278-9284. ISBN 978-1-5386-6027-0
Abstract
In robotic surgery the motion of instruments and the laparoscopic camera is constrained by their insertion ports, i. e. a remote centre of motion (RCM). We propose a Simultaneous Localisation and Mapping (SLAM) approach that estimates laparoscopic camera motion under RCM constraints. To achieve this we derive a minimal solver for the absolute camera pose given two 2D-3D point correspondences (RCM-PnP) and also a bundle adjustment optimiser that refines camera poses within an RCM-constrained parameterisation. These two methods are used together with previous work on relative pose estimation under RCM [1] to assemble a SLAM pipeline suitable for robotic surgery. Our simulations show that RCM-PnP outperforms conventional PnP for a wide noise range in the RCM position. Results with video footage from a robotic prostatectomy show that RCM constraints significantly improve camera pose estimation.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 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. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 05 Mar 2020 14:11 |
Last Modified: | 20 Mar 2020 02:24 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/icra.2019.8793931 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:158060 |