Visual Measurement of Suture Strain for Robotic Surgery

Figure 4

Suture line and marker detection process. (a) A binary image resulting from Sobel edge detection operators. (b) Hough transform on binary image for line detection. (c) Detected suture is displayed on the video image and markers are selected (red circles). (d) Line profile showing chosen markers (black arrows). (e) The pattern for the chosen marker (red line) is matched in the line profile (green line).