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Surgical tool recognizer qianlu li
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SURGICAL TOOL RECOGNIZER Qianlu Li 2013/12/06
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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
