A Kalman-Filter-Based Common Algorithm Approach for Object Detection in Surgery Scene to Assist Surgeon’s Situation Awareness in Robot-Assisted Laparoscopic Surgery

<div>Validation of the surgical instrument position trajectories in time domain. The plot shows <i>x</i> and <i>y</i> position of the (a) instrument 1, (b) instrument 2, and (c) instrument 3 as reported by manually traced values (dashed line) and the proposed tracking algorithm (solid line).</div>

Journal of Healthcare Engineering

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Figure 6

Figure 6: A Kalman-Filter-Based Common Algorithm Approach for Object Detection in Surgery Scene to Assist Surgeon’s Situation Awareness in Robot-Assisted Laparoscopic Surgery 

Figure 6 | A Kalman-Filter-Based Common Algorithm Approach for Object Detection in Surgery Scene to Assist Surgeon’s Situation Awareness in Robot-Assisted Laparoscopic Surgery 