{"id":{"repo_id":"washington","oai_identifier":"oai:digital.lib.washington.edu:1773/40548"},"canonical_url":"https://search.dev.ndltd.org/etd/washington/oai:digital.lib.washington.edu:1773/40548","repository":{"repo_id":"washington","name":"University of Washington","base_url":"https://digital.lib.washington.edu/server/oai/request"},"display":{"title":"Vision Based Surgical Tool Tracking with Robot Kinematics Prior","abstract":"Robot assisted minimally invasive surgery combines the skill and techniques of highly-trained surgeons with the robustness and precision of machines. Through a teleoperation scheme, surgeons can execute high-level surgical tasks by commanding instruments controlled by precise robotic devices. Several advantages arise. To name a few: (1) achieved precision is beyond that of human dexterity alone (2) a greater number of kinematic degrees of freedom are possible at the surgical tool tip (3) surgeons are able to operate remotely, i.e. agnostic of patient location given a suitable communication line. Despite the numerous advantages over traditional key-hole or laparoscopic surgery, the lack of realistic and real-time force feedback is a major drawback --- discerning tool-tissue interactions can be unintuitive and can ultimately result in unintentional tissue damage. Directly sensing forces at the tool-tissue interface is theoretically possible using tool tip mounted force sensors, but this approach is not amenable to required sterilization procedures. Thus, a vision based force estimation method is proposed to infer the applied force based on real-time analysis of tissue deformation.","abstract_html":"Robot assisted minimally invasive surgery combines the skill and techniques of highly-trained surgeons with the robustness and precision of machines. Through a teleoperation scheme, surgeons can execute high-level surgical tasks by commanding instruments controlled by precise robotic devices. Several advantages arise. To name a few: (1) achieved precision is beyond that of human dexterity alone (2) a greater number of kinematic degrees of freedom are possible at the surgical tool tip (3) surgeons are able to operate remotely, i.e. agnostic of patient location given a suitable communication line. Despite the numerous advantages over traditional key-hole or laparoscopic surgery, the lack of realistic and real-time force feedback is a major drawback --- discerning tool-tissue interactions can be unintuitive and can ultimately result in unintentional tissue damage. Directly sensing forces at the tool-tissue interface is theoretically possible using tool tip mounted force sensors, but this approach is not amenable to required sterilization procedures. Thus, a vision based force estimation method is proposed to infer the applied force based on real-time analysis of tissue deformation.","abstract_has_math":false,"creators":["Su, Yun-Hsuan"],"institution":null,"degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":["Hannaford, Blake"],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-10-26","date_published":"2017-10-26","updated_at":"2026-07-24T05:58:14Z","subjects":["Image Segmentation","Raven Surgical Robot","Surgical Instrument Tracking","Surgical Robotics","Engineering"],"languages":["en_US"],"rights":["CC BY"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1773/40548","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Hannaford, Blake"]},{"key":"dc:creator","label":"Author","values":["Su, Yun-Hsuan"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2017-10-26T20:49:20Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2017-10-26T20:49:20Z"]},{"key":"dc:date.issued","label":"Date","values":["2017-10-26"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Image Segmentation","Raven Surgical Robot","Surgical Instrument Tracking","Surgical Robotics","Engineering"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en_US"]},{"key":"dc:rights","label":"Dc Rights","values":["CC BY"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["Su_washington_0250O_17733.pdf"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/1773/40548"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Thesis (Master's)--University of Washington, 2017-08"]},{"key":"dc:description.abstract","label":"Abstract","values":["Robot assisted minimally invasive surgery combines the skill and techniques of highly-trained surgeons with the robustness and precision of machines. Through a teleoperation scheme, surgeons can execute high-level surgical tasks by commanding instruments controlled by precise robotic devices. Several advantages arise. To name a few: (1) achieved precision is beyond that of human dexterity alone (2) a greater number of kinematic degrees of freedom are possible at the surgical tool tip (3) surgeons are able to operate remotely, i.e. agnostic of patient location given a suitable communication line. Despite the numerous advantages over traditional key-hole or laparoscopic surgery, the lack of realistic and real-time force feedback is a major drawback --- discerning tool-tissue interactions can be unintuitive and can ultimately result in unintentional tissue damage. Directly sensing forces at the tool-tissue interface is theoretically possible using tool tip mounted force sensors, but this approach is not amenable to required sterilization procedures. 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