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

Issue title: Frontiers in Biomedical Engineering and Biotechnology – Proceedings of the 3rd International Conference on Biomedical Engineering and Biotechnology, 25–28 September 2014, Beijing, China

Article type: Research Article

Authors: Zhao, Zijian;

Affiliations: School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong China

Note: [] Address for correspondence: Zijian Zhao, School of Control Science and Engineering, Shandong University, 17923 Jingshi Road, Jinan 250061, China. Tel.:+8653188392591; Email:[email protected].

Keywords: Laparoscopic surgery, tool tracking, localization of instrument, robotized camera holder

DOI: 10.3233/BME-141083

Journal: Bio-Medical Materials and Engineering, vol. 24, no. 6, pp. 2665-2672, 2014

Published: 2014
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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.

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