Journal of Medical Robotics Research by World Scientific Publishing Co Pte Ltd

More catalogs by World Scientific Publishing Co Pte Ltd | Journal of Medical Robotics Research | 4 pages | 2018-11-22

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Page 2 of Journal of Medical Robotics Research

read these articles for free at www.worldscientific.com/jmrr 1hhgoh7udfnlqjdqg hÀhfwlrq3uhglfwlrqiru5rerw $vvlvwhg1hhgoh,qvhuwlrq8vlqj 8owudvrxqg,pdjhv michael waine carlos rossa ron sloboda nawaid usmani mahdi tavakoli doi 10.1142/s2424905x16400018 fig 2 example of transverse left versus sagittal right us imaging in transverse images a cross section of the needle perpendicular to its neutral axis is observed in sagittal images the needle s neutral axis is observed fig 2 a flowchart of the image processing each image is thresholded to create a black and white image hough transforms are then used to locate the tool shaft and heart tissue in the first image the rois are set and the tool tip and poi locations are found lines are then fit to the tool shaft and heart tissue in the remaining images the edge of the heart tissue is found the heart tissue roi is updated and the tool tip and poi locations are found $q,pphuvlyh9luwxdo5hdolw qylurqphqwiru ldjqrvwlf ,pdjlqj franklin king jagadeesan jayender sharath k bhagavatula paul b shyn steve pieper tina kapur andras lasso gabor fichtinger doi 10.1142/s2424905x16400031 fig 3 an image of the needle embedded within biological tissue the needle and extraneous background objects are shown underneath the image processing steps are shown 8owudvrxqg%dvhg,pdjhxlgdqfhdqg0rwlrq&rpshqvdwlqj &rqwuroiru5rerw$vvlvwhg%hdwlqj+hduw6xujhu fig 1 approximate field of view of the oculus rift dk2 hmd compared to usage of a conventional display from 50 cm away meaghan bowthorpe mahdi tavakoli doi 10.1142/s2424905x1640002x a fig 2 fig 1 the position of the surgical tool tip and the poi on the heart are measured in the ultrasound frame the position of the surgical tool tip is measured in the robot frame b a oculus rift dk2 b dk2 infrared markers fig 4 view of scene in unity editor with six images selected to be arrayed around a user represented as a camera icon at the center of the array.