Laparoscopic instrument tip position estimation for visual and haptic guidance in the computer assisted surgical trainer
Minsik Hong, Kuo‐Shiuan Peng, Victoria Lundine, Jerzy W. Rozenblit · 2017
A mathematical model of 4 degrees of freedom of forward and inverse kinematics is presented to provide visual and haptic guidance for laparoscopic surgery skills training. Also, a particle swarm optimization technique with color marker detection is used to estimate the instrument tip position accurately. Using a simple heuristic for the visual guidance, inverse kinematics solutions are calculated in real-time, which the haptic guidance uses as well. The experimental results illustrate the effectiveness of the proposed method.