Transcript of Surgical tool recognizer qianlu li
- 1. SURGICAL TOOL RECOGNIZER Qianlu Li 2013/12/06
- 2. Agenda Recognizing Overlapping Surgical Instruments &
Realizing Picking Action of FANUC Robot Introduction Objectives
General procedure Trouble shooting Results
- 3. Why Robot Picking Use Robot as an automaticmedical assistant
to help doctor The surgical instruments arenot well placed one by
one, But as a cluster
- 4. Objectives Realizing this medical problem-orientated
imageprocessing method to recognize the surgical tool Know the
working principle of FANUC and realize the picking and moving
function
- 5. General procedure Computer VersionRobot ControlInputCamera I
: Top View: P1Recognize Item LocationGet Coordinate and MoveNo
Re-detect the picked item Yes EndPick Up: P2
- 6. Image Processing I Detect Circle of two kind of instrument:
Hemostat and Scissor
- 7. Trouble Shooting With different parameters, it will take out
different center points each training and some outliers? Set an
accumulated Mat to Classify the nearer and repeated center points
together
- 8. Trouble Shooting InputCircle Detect: Accumulated Mat: Save
and Classify Center Point N