DocumentCode :
3573966
Title :
Real-time 3D visual tracking of laparoscopic instruments for robotized endoscope holder
Author :
Zijian Zhao
Author_Institution :
Sch. of Control Sci. & Eng., Shandong Univ., Jinan, China
fYear :
2014
Firstpage :
6145
Lastpage :
6150
Abstract :
The robotized endoscope holder in laparoscopic surgery allows a surgeon to control the endoscope without the intervention of an assistant. For providing the more convenient interactions between the surgeon and a robotized endoscope holder, we propose a new method for the automatic 3D-tracking of laparoscopic instruments in real-time. The method is based on the measurement of the 3D positions of the insertion points of the instruments and the strip markers, and the constraints of the depth estimation of the instruments. We present the encouraging results in our experiment, which show that our method is rapid and robust in the simulated laparoscopic surgery.
Keywords :
endoscopes; medical robotics; object tracking; position measurement; surgery; 3D position measurement; automatic 3D-tracking; depth estimation; insertion points; laparoscopic instruments; real-time 3D visual tracking; robotized endoscope holder; simulated laparoscopic surgery; strip markers; Cameras; Image color analysis; Image segmentation; Instruments; Robots; Surgery; Three-dimensional displays; Laparoscopic surgery; Locating of instrument; Robotized camera holder; Tool tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
Type :
conf
DOI :
10.1109/WCICA.2014.7053773
Filename :
7053773
Link To Document :
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