A Development of Object Detection System based on Deep Learning Approach to Support the Laparoscope Manipulating Robot (LMR)

摘要

This paper presents the development of an object detection system based on the deep learning approach of computer vision to support the laparoscopic surgical robotic position control system. The system comprises two main phases, the training phase, and the real-time operating phase. In the training phase, a modified YOLOv4 algorithm is proposed to be adopted within the Darknet framework for training the weights of detection models. The best detection model is then selected to be assigned to the object detector in the real-time operating phase. The validation result of the detection model across the experiment datasets is 90% accuracy on average during the training phase. To validate the viability of real-time object detection, the proposed system was implemented in two test-cases of gynecologic surgery with the soft-body cadavers.