ICRA 2011 Paper Abstract


Paper WeA113.5

Agovic, Amer (University of Minnesota), Levine, Joseph (University Of Minnesota), Agovic, Amrudin (University Of Minnesota), Papanikolopoulos, Nikos (University of Minnesota)

Computer Vision Issues in the Design of a Scrub Nurse Robot

Scheduled for presentation during the Regular Sessions "Medical Robots I" (WeA113), Wednesday, May 11, 2011, 09:20−09:35, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Medical Robots and Systems, Human Performance Augmentation, Visual Tracking


A robot scrub nurse (RSN) is an example of a robotic assistant for surgical environments. Ideally, by taking over management of instruments, it would lower costs of an operation and cut down on mistakes. Of vital importance for such robots is how they interface with the environment. A scrub nurse robot requires the ability to sense the human operators before it can assist. Computer vision offers here a number of advantages over other sensing modalities. In this paper we examine a visual tracking system for a robot scrub nurse. The system works by estimating hand position and orientation of the main surgeon. This information is needed to guide the robot in delivering instruments directly to the surgeon. Our work outlines the entire vision tracking process and evaluates robustness and accuracy. The end result is a re-implementable and working application, suitable for surgical environments, that also offers a degree of operation robustness.



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