Robotic handling of surgical instruments in a cluttered tray

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ROBOTIC HANDLING OF SURGICAL INSTRUMENTS IN A CLUTTERED TRAY
ABSTRACT
We developed a unique robotic manipulation system that accurately singulates surgical
instruments in a cluttered environment. A novel single-view computer vision algorithm identifies
the next instrument to grip from a cluttered pile and a compliant electromagnetic gripper picks
up the identified instrument. System is validated through extensive experiments.

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