Relevant Publication

• W. Pryor, Y. Barnoy, S. Raval, X. Liu, L. Mair, D. Lerner, O. Erin, G. Hager, Y. Diaz-Mercado, A. Krieger, “Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 524-531. [Paper]

Summary

We present a novel needle localization method, based on a U-Net modified for speed and additional output combined with error-correcting classical methods, and a corresponding control method which uses our localization method to navigate a needle in a lab environment. While our control method is tailored to our specific magnetic suturing setup, our needle localization method is applicable to any other similar contexts.

Videos showcasing segmentation and keypoints based localization for magnetic robots in cluttered surgical scene in real-time