Automatic Detection Of Instruments In Laparoscopic Images: A First Step Towards High-Level Command Of Robotic Endoscopic Holders  

Oleh:

[s.n]

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 26 no. 11-12 (Nov. 2007), page 1173-1191.
Topik: medical robots and systems; visual tracking
Fulltext: 1173.pdf (2.84MB)

Isi artikel

The tracking of surgical instruments offers interesting possibilities for the development of high-level commands for robotic camera holders in laparoscopic surgery. We have developed a new method to detect instruments in laparoscopic images which uses information on the 3D position of the insertion point of an instrument into the abdominal cavity. This information strongly constrains the search for the instrument in each endoscopic image. Hence, the instrument can be detected in near real-time using shape considerations. Early results on laparoscopic images show that the method is rapid and robust in the presence of partial occlusion and smoke. Our first experiment on a cadaver validates our approach and shows encouraging results.

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