Robust and dense visual SLAM for robotic-guided minimally invasive orthopedic procedures

This project aims to develop a vision-based robotic surgical assistant for minimally invasive orthopedic procedures. The system would be composed of a robotic arm with an attached camera-arthroscope bundle for intra-articular navigation. The system will be capable of a) localizing instruments robustly and reliably inside the human joints; b) generating dense and accurate 3D reconstructed models of the knee joint from intra-articular images; and c) semi-autonomously navigating the camera (via visual servoing) to follow the surgeons’ tools.

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• Dataset [Cadaveric and phantom experiments for the validation of SLAM algorithms for minimally invasive orthopedics procedures. Please see README file for further details. Data acquisition was approved by the Australian National Health and Medical Research Council (NHMRC) – Registered Committee Number EC00171 under Approval Number 1400000856.]

• Papers

Contacts: Andres Marmol, Thierry Peynot, Jonathan Roberts