A Kalman-Filter-Based Common Algorithm Approach for Object Detection in Surgery Scene to Assist Surgeon’s Situation Awareness in Robot-Assisted Laparoscopic Surgery

<div>Instrument tracking: (a) the proposed method validation using multiple instrument path trajectories in comparison with manually traced values, <i>x</i> and <i>y</i> pixel positions of instruments 1, 2, and 3; (b) path position distance error of instrument 1; (c) path position distance error of instrument 2; (d) path position distance error of instrument 3.</div>

Journal of Healthcare Engineering

fig5

Figure 5

Figure 5: A Kalman-Filter-Based Common Algorithm Approach for Object Detection in Surgery Scene to Assist Surgeon’s Situation Awareness in Robot-Assisted Laparoscopic Surgery 

Figure 5 | A Kalman-Filter-Based Common Algorithm Approach for Object Detection in Surgery Scene to Assist Surgeon’s Situation Awareness in Robot-Assisted Laparoscopic Surgery 