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 orthopaedics 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.