Analysis and improvement of image-based insertion point estimation for robot-assisted minimally invasive surgery

Authors:
Florent Nageotte;Laurent Ott;Philippe Zanne;Michel De Mathelin
Affiliations:
LSIIT, UMR CNRS, Strasbourg University, France;LSIIT, UMR CNRS, Strasbourg University, France;LSIIT, UMR CNRS, Strasbourg University, France;LSIIT, UMR CNRS, Strasbourg University, France
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

Estimating insertion points of surgical instruments for minimally invasive surgery is a necessary step to be able to control surgical instruments using endoscopic images. In this paper, we propose an analysis of possible methods which use image information only. Mathematical properties are detailed together with statistical properties obtained by simulations. Then a specific method is chosen to estimate the insertion point for bi-modal surgery (laparoscopy and flexible endoscopy). In vitro experiments show the accuracy of the approach and how it is possible to track the motion of the insertion point in the case of physiological motions.