Surgeries performed on human eye require a high level of dexterity. Accuracy of widely used ophthalmic stereomicroscopes can be affected by limited depth perception and precision reduced by physiological tremor. Robotic arm-assisted manipulation of surgical tools improves precision, while intraoperative Optical Coherence Tomography (OCT) provides depth information and improves accuracy. Our hardware and software solutions enable tracking the tool tip to ensure the displayed OCT cross-scans, rather than 3-D volumes, are always locked to the tools’ tip position parsed from the robotic arm subsystem. Tool tracking errors for lateral movement and rotation are discussed for various velocities of the tool.
Estimation of surgical tool pose is essential for surgical image guidance. Near real-time position and angle estimation is crucial, for example, for intraoperative optical coherence tomography tracking in retinal microsurgery. The current state-of-the-art algorithm for surgical tool tracking in posterior eye surgery was first introduced by Alsheakhali et al.1 We propose Dual Color Space Algorithm - an improved tool segmentation method based on combined color space masks, set thresholds, a shadow-insensitive detector for the tool edge, and more robust detection of the tip of the surgical tools. The presented algorithms are benchmarked on a series of manually annotated images from posterior eye surgery video. The video frames suffer from the confounding effect of the tool’s shadow and spot illumination occurring several times. A severalfold improvement in the algorithm’s accuracy is reported.
In this paper we discuss Imagery Intelligence (IMINT) process based on the images from a short-range Tactical Unmanned Aerial Vehicle (TUAV) with EO/IR system and Synthetic Aperture Radar (SAR) payload. Properly planned TUAV’s flight path is needed to obtain a proper data for further processing and analysis required by IMINT analyst. Path planning process must additionally take cognizance of individual sensor requirements. We also present a waypoint generation method which is a base for planning the TUAV’s flight path as it allows to take into consideration dynamic limitations of UAV.
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