Title: Master slave configuration in robotic surgery through image processing

Authors: Seema; Jasbir Singh Saini; Sanjeev Kumar

Addresses: Department of Electrical Engineering, Deenbandhu Chhotu Ram University of Science and Technology, 50th K.M. Stone, N.H. 1, Murthal, Haryana 131039, India ' Department of Electrical Engineering, Deenbandhu Chhotu Ram University of Science and Technology, 50th K.M. Stone, N.H. 1, Murthal, Haryana 131039, India ' Central Scientific Instruments Organisation, Chandigarh, India

Abstract: This paper introduces the implementation of a master-slave configuration setup for robotic surgery. Image processing has been used for establishing the same. A hardware setup has been designed which interfaces with a GUI. The two works in conjunction to achieve the controlled movement of a robotic arm. The software section is divided into two sections basically, image dataset selection and validation and the development of a suitable GUI. The image dataset selected was a set of 140 MRI brain tumour related images. The designed GUI allows the surgeon to capture the patient live view and set an image for processing and using further. Also, the hardware setup is controlled from the master/doctor's end. This selected frame goes through the process of image segmentation method that had been selected and improved.

Keywords: haptics; master-slave configuration; image processing.

DOI: 10.1504/IJBET.2023.132884

International Journal of Biomedical Engineering and Technology, 2023 Vol.42 No.4, pp.355 - 367

Received: 19 Feb 2021
Accepted: 31 Oct 2021
Published online: 14 Aug 2023 *

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