Real-Time 3D Reconstruction of Dexterous Continuum Surgical Robots



Dexterous continuum surgical robots are of increasing interest to researchers given their ability to reach remote areas within the body by moving in highly curved paths.

Knowing the configuration of the robot at any time is important for precise control and accurate performance during surgical procedures. Although kinematic models have been developed for some of these robots, these models are only accurate to within several millimeters. The accuracy of these models is of increasing concern as robots are being constructed out of novel materials

In this project, we describe an image processing pipeline for reconstructing the 3D backbone of a concentric tube robot using two orthogonal cameras as the robot moves in free space.



Building the retrieval pipeline

Image processing pipeline in MATLAB with a super resolution algorithm


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SKU: P2018F248 Category: