Real-time 3D visual tracking of laparoscopic instruments for robotized endoscope holder.
Robotized endoscope holder in laparoscopic surgeries allows surgeons to control the endoscope without the assistants' intervention. In this paper, a new method is proposed for the automatic 3D-tracking of laparoscopic instruments in real-time to provide more convenient interactions between surgeons and the robotized endoscope holder. The method is based on the 3D position measurements of the insertion points of the instruments and the strip markers, combined with the depth estimation of the instruments. The results of our experiments show that our method is fast and robust in the simulated laparoscopic surgeries.
['Zhao|Zijian|Z|']
D000465:Algorithms D003199:Computer Systems D019723:Endoscopes D004867:Equipment Design D019544:Equipment Failure Analysis D057918:Fiducial Markers D006801:Humans D007090:Image Interpretation, Computer-Assisted D021621:Imaging, Three-Dimensional D020706:Laparoscopes D015203:Reproducibility of Results D012371:Robotics D012680:Sensitivity and Specificity D025321:Surgery, Computer-Assisted D014584:User-Computer Interface
Laparoscopic surgery localization of instrument robotized camera holder tool tracking