Cross-Scene Suture Thread Parsing for Robot Assisted Anastomosis based on Joint Feature Learning

@article{Gu2018CrossSceneST,
  title={Cross-Scene Suture Thread Parsing for Robot Assisted Anastomosis based on Joint Feature Learning},
  author={Yun Gu and Yang Hu and Lin Zhang and Jie Yang and Guang-Zhong Yang},
  journal={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2018},
  pages={769-776}
}
Task autonomy is an important consideration for the development of future surgical robots. For robot-assisted anastomosis, suture thread detection is a prerequisite for subsequent robot manipulation. Previous works on automatic thread detection are focused on the learning of the models with specific surgical settings that are poorly generalisable to generic settings. In this paper, we propose a joint feature learning framework that caters for the foreground and background adaptation for… CONTINUE READING

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