2. Agenda Recognizing Overlapping Surgical Instruments &
Realizing Picking Action of FANUC Robot Introduction Objectives
General procedure Trouble shooting Results
3. Why Robot Picking Use Robot as an automaticmedical assistant
to help doctor The surgical instruments arenot well placed one by
one, But as a cluster
4. Objectives Realizing this medical problem-orientated
imageprocessing method to recognize the surgical tool Know the
working principle of FANUC and realize the picking and moving
function
5. General procedure Computer VersionRobot ControlInputCamera I
: Top View: P1Recognize Item LocationGet Coordinate and MoveNo
Re-detect the picked item Yes EndPick Up: P2
6. Image Processing I Detect Circle of two kind of instrument:
Hemostat and Scissor
7. Trouble Shooting With different parameters, it will take out
different center points each training and some outliers? Set an
accumulated Mat to Classify the nearer and repeated center points
together
8. Trouble Shooting InputCircle Detect: Accumulated Mat: Save
and Classify Center Point N