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Syst."],"published-print":{"date-parts":[[2022,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In minimally invasive surgery, the primary surgeon requires an assistant to hold an endoscope to obtain visual information from the body cavity. However, the two-dimensional images acquired by endoscopy lack depth information. Future automatic robotic surgeries need three-dimensional information of the target area. This paper presents a method to reconstruct a 3D model of soft tissues from image sequences acquired from a robotic camera holder. In this algorithm, a sparse reconstruction module based on the SIFT and SURF features is designed, and a multilevel feature matching strategy is proposed to improve the algorithm efficiency. To recover the realistic effect of the soft-tissue model, a complete 3D reconstruction algorithm is implemented, including densification, meshing of the point cloud and texture mapping reconstruction. During the texture reconstruction stage, a mathematical model is proposed to achieve the repair of texture seams. To verify the feasibility of the proposed method, we use a collaborative manipulator (AUBO i5) with a mounted camera to mimic an assistant surgeon holding an endoscope. To satisfy a pivotal constraint imposed by the remote center of motion (RCM), a kinematic algorithm of the manipulator is implemented, and the primary surgeon is provided with a voice control interface to control the directions of the camera with. We conducted an experiment to show a 3D reconstruction of soft tissue by the proposed method and the manipulator, which indicates that the manipulator works as a robotic assistant which can hold a camera to provide abundant information in the surgery.<\/jats:p>","DOI":"10.1007\/s40747-021-00485-9","type":"journal-article","created":{"date-parts":[[2021,8,13]],"date-time":"2021-08-13T03:34:09Z","timestamp":1628825649000},"page":"2923-2936","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Monocular tissue reconstruction via remote center motion for robot-assisted minimally invasive surgery"],"prefix":"10.1007","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5438-0756","authenticated-orcid":false,"given":"Peng","family":"Li","sequence":"first","affiliation":[]},{"given":"Ming","family":"Tang","sequence":"additional","affiliation":[]},{"given":"Ke","family":"Ding","sequence":"additional","affiliation":[]},{"given":"Xiaojun","family":"Wu","sequence":"additional","affiliation":[]},{"given":"Yunhui","family":"Liu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,8,13]]},"reference":[{"key":"485_CR1","doi-asserted-by":"publisher","unstructured":"Qi J, Xu K, Ding X (2021) Approach to hand posture recognition based on hand shape features for humancrobot interaction. 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