Vasconcelos, F;
Mazomenos, E;
Kelly, J;
Stoyanov, D;
(2019)
RCM-SLAM: Visual localisation and mapping under remote centre of motion constraints.
In:
2019 International Conference on Robotics and Automation (ICRA).
(pp. pp. 9278-9284).
IEEE: Montreal, QC, Canada.
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Abstract
In robotic surgery the motion of instruments and the laparoscopic camera is constrained by their insertion ports, i. e. a remote centre of motion (RCM). We propose a Simultaneous Localisation and Mapping (SLAM) approach that estimates laparoscopic camera motion under RCM constraints. To achieve this we derive a minimal solver for the absolute camera pose given two 2D-3D point correspondences (RCMPnP) and also a bundle adjustment optimiser that refines camera poses within an RCM-constrained parameterisation. These two methods are used together with previous work on relative pose estimation under RCM [1] to assemble a SLAM pipeline suitable for robotic surgery. Our simulations show that RCM-PnP outperforms conventional PnP for a wide noise range in the RCM position. Results with video footage from a robotic prostatectomy show that RCM constraints significantly improve camera pose estimation
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