Real-time 3D visual tracking of laparoscopic instruments for robotized endoscope holder.

Abstract:

: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.

journal_name

Biomed Mater Eng

authors

Zhao Z

doi

10.3233/BME-141083

subject

Has Abstract

pub_date

2014-01-01 00:00:00

pages

2665-72

issue

6

eissn

0959-2989

issn

1878-3619

pii

858373WRW411L3R0

journal_volume

24

pub_type

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