Automatic localization of laparoscopic instruments for the visual servoing of an endoscopic camera holder

Authors:
Sandrine Voros;Jean-Alexandre Long;Philippe Cinquin
Affiliations:
TIMC-IMAG, UMR CNRS 5525, Université Joseph Fourier, Grenoble;Department of Urology, University Hospital, Grenoble;TIMC-IMAG, UMR CNRS 5525, Université Joseph Fourier, Grenoble
Venue:
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Year:
2006

Citing 3
Cited 2

A Flexible New Technique for Camera Calibration

IEEE Transactions on Pattern Analysis and Machine Intelligence
Use of the Hough transformation to detect lines and curves in pictures

Communications of the ACM
Development of a Compact Cable-Driven Laparoscopic Endoscope Manipulator

MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part I

Biopsy Site Re-localisation Based on the Computation of Epipolar Lines from Two Previous Endoscopic Images

MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Magneto-optic tracking of a flexible laparoscopic ultrasound transducer for laparoscope augmentation

MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I

Quantified Score

Hi-index	0.00

Visualization

Abstract

The use of a robotized camera holder in laparoscopic surgery allows a surgeon to control the endoscope without the intervention of an assistant. Today, the orders that the surgeon can give to robotized camera holders remain limited. In order to provide higher level interactions between the surgeon and a robotized camera holder, we have developed a new method for the automatic tracking of laparoscopic instruments which works in near real-time. The method is based on the measurement of the 3D positions of the insertion points of the instruments in the abdominal cavity and a simple shape model of the laparoscopic instruments. We present the results of our first experimentation on a cadaver.