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International Journal of Computer Assisted Radiology and Surgery
Erschienen in: International Journal of Computer Assisted Radiology and Surgery 7/2016

01.07.2016 | Original Article

Time-of-flight-assisted Kinect camera-based people detection for intuitive human robot cooperation in the surgical operating room

verfasst von: Tim Beyl, Philip Nicolai, Mirko D. Comparetti, Jörg Raczkowsky, Elena De Momi, Heinz Wörn

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 7/2016

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Abstract

Background

Scene supervision is a major tool to make medical robots safer and more intuitive. The paper shows an approach to efficiently use 3D cameras within the surgical operating room to enable for safe human robot interaction and action perception. Additionally the presented approach aims to make 3D camera-based scene supervision more reliable and accurate.

Methods

A camera system composed of multiple Kinect and time-of-flight cameras has been designed, implemented and calibrated. Calibration and object detection as well as people tracking methods have been designed and evaluated.

Results

The camera system shows a good registration accuracy of 0.05 m. The tracking of humans is reliable and accurate and has been evaluated in an experimental setup using operating clothing. The robot detection shows an error of around 0.04 m.

Conclusions

The robustness and accuracy of the approach allow for an integration into modern operating room. The data output can be used directly for situation and workflow detection as well as collision avoidance.
Vorheriger Artikel Automatic 3D reconstruction of electrophysiology catheters from two-view monoplane C-arm image sequences
Nächster Artikel Estimating needle tip deflection in biological tissue from a single transverse ultrasound image: application to brachytherapy

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Metadaten
Titel
Time-of-flight-assisted Kinect camera-based people detection for intuitive human robot cooperation in the surgical operating room
verfasst von
Tim Beyl
Philip Nicolai
Mirko D. Comparetti
Jörg Raczkowsky
Elena De Momi
Heinz Wörn
Publikationsdatum
01.07.2016
Verlag
Springer Berlin Heidelberg
Erschienen in
International Journal of Computer Assisted Radiology and Surgery / Ausgabe 7/2016
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI
https://doi.org/10.1007/s11548-015-1318-7

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