Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery

Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery

In the context of Minimally Invasive Surgery, surgeons mainly rely on visual feedback during medical operations. In common procedures such as tissue resection, the automation of endoscopic control is crucial yet challenging, particularly due to the interactive dynamics of multi-agent operations and...

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Bibliographic Details
Main Authors: Khusniddin Fozilov, Jacinto Colan, Ana Davila, Kazunari Misawa, Jie Qiu, Yuichiro Hayashi, Kensaku Mori, Yasuhisa Hasegawa
Format: Article
Language:English
Published: MDPI AG 2023-12-01
Series:Sensors
Subjects:
autonomous systems
Hierarchical Quadratic Programming
robotic surgery
segmentation and tracking
visual servoing
Online Access:https://www.mdpi.com/1424-8220/23/24/9865

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