Visual tracking algorithm for laparoscopic robot surgery

Authors:
Min-Seok Kim;Jin-Seok Heo;Jung-Ju Lee
Affiliations:
Mechanical Engineering Department, Korea Advanced Institute of Science and Technology, Daejeon, Korea;Mechanical Engineering Department, Korea Advanced Institute of Science and Technology, Daejeon, Korea;Mechanical Engineering Department, Korea Advanced Institute of Science and Technology, Daejeon, Korea
Venue:
FSKD'05 Proceedings of the Second international conference on Fuzzy Systems and Knowledge Discovery - Volume Part II
Year:
2005

Citing 4
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Abstract

In this paper, we present a new real-time visual servoing unit for laparoscopic surgery. This unit can automatically control a laparoscope manipulator through visual tracking of the laparoscopic surgical tool. For the tracking, we present a two-stage adaptive CONDENSATION (conditional density propagation) algorithm to detect the accurate position of the surgical tool tip from a surgical image sequence in real-time. This algorithm can be adaptable to abrupt changes of illumination. The experimental results show that the proposed visual tracking algorithm is highly robust.