Kefu Song, Rui Tang, Feifei Guo, Zexin Shen, Huixiong Zeng, Jun Li. Surgical Robotic Arm Guidance System Based on Point Laser Precise Navigation[J]. Laser & Optoelectronics Progress, 2024, 61(18): 1815003
- Laser & Optoelectronics Progress
- Vol. 61, Issue 18, 1815003 (2024)
Fig. 1. Principle of multi-stage small object detection
Fig. 2. SRCNN network framework
Fig. 3. Comparison of traditional algorithm and optimization algorithm framework. (a) Mainstream multi-scale target recognition architecture; (b) feature aggregation and single scale recognition improvement strategies
Fig. 4. RRT and RRT* search process. (a) RRT; (b) RRT*
Fig. 5. RRT*-Connect with target bias strategy
Fig. 6. Path planning. (a) Path optimization; (b) path smoothing
Fig. 7. Robotic arm and obstacle bounding box model
Fig. 8. Simulated lesion point cloud image. (a) Processed point cloud image; (b) normal vector image of the lesion surface
Fig. 9. Surgical robotic arm guidance system
Fig. 10. System flow chart
Fig. 11. Comparison of recognition results. (a) Intel RealSense Viewer; (b) bright condition; (c) dark condition
Fig. 12. Search process and results. (a) RRT*; (b) RRT-Connect; (c) BT-RRT*; (d) proposed algorithm
Fig. 13. Comparison of simulation results. (a) No constraint strategy applied; (b) constraint strategy applied
Fig. 14. Experimental results in actual scene. (a) No constraint strategy applied; (b) constraint strategy applied
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Table 1. Results of ablation experiment
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Table 2. Comparison of recognition results of different algorithms
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Table 3. Identification data comparison
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Table 4. Comparison of simulation results
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