Surgical robot navigation based on SLAM technology

摘要

With the widespread application of surgical robots and the development of computer vision, SLAM-applicated surgery is receiving increasing attention. However, due to the unique surgical environment, SLAM faces some challenges. Two key issues will be discussed in this article: dynamic object detection and image segmentation, as well as scene reconstruction under data scarcity. Firstly, dynamic object detection and image segmentation is an important issue in SLAM applications. During the surgical process, doctors often use surgical instruments, which may partially or completely obscure the object, making it difficult to detect the target. Methods based on traditional feature matching may not be able to accurately detect dynamic targets perform image segmentation. Therefore, this article will combine semantic networks for analysis to improve the performance. In addition, scene reconstruction under data scarcity is another challenge in SLAM applications. Traditional SLAM methods typically rely on a large amount of feature points or map data. But in surgery, due to the complexity of occlusion and geometric structure, reliable data may not be easily obtained. This article will develop with the steps of reconstruction and analyze feasible methods that can improve the accuracy and stability of reconstruction. To conclude, this article will concentrate on these two issues, analyze recent papers, and ultimately summarize some feasible solutions, providing ideas and references for other researchers in this field.