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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Arregui, M.E., Fotzgibbons Jr., R.J., Katkhouida, N., McKernan, J.B., Reich, H.: Principles of Laparoscopic surgery. Springer, Heidelberg (1995)
Omote, K., Feussner, H., Ungeheuer, A., Arbter, K., Wei, G.-Q.: Self-guided robotic camera control for laparoscopic surgery compared with human camera control. The American journal of surgery 177, 321–324 (1999)
Casals, A., Amat, J., Laporte, E.: Automatic guidance of an assistant robot in laparoscopic surgery. In: IEEE International Conf. on Robotics and Automation, vol. 1, pp. 895–900 (1996)
Lee, C., Wang, Y.-F., Uecker, D.R., Wang, Y.: Image analysis for automated tracking in robot-assisted endoscopic surgery. In: Proceedings of the 12th IAPR International Conference, vol. 1, pp. 88–92 (1994)
Wei, G.-Q., Arbter, K., Hirzinger, G.: Real-time visual servoing for laparoscopic surgery. Controlling robot motion with color image segmentation. IEEE Eng. in Med. and Bio. Magazine 16(1), 40–45 (1997)
Isard, M., Blake, A.: CONDENSATION - Conditional Density Propagation for Visual Tracking. Int. J. Computer Vision 29(1), 5–28 (1998)
Isard, M., Blake, A.: Contour tracking by stochastic propagation of conditional density. In: In Proc. European Conf. Computer Vision, pp. 343–356 (1996)
Reynard, D., Wilderberg, A., Blake, A., Marchant, J.: Learning dynamics of complex motions from image sequences. In: Proc. European Conf. Computer Vision, pp. 357–368 (1996)
Blake, A., Isard, M.: Active contours. Springer, Heidelberg (1998)
Gonzalez, R.C., Woods, R.E.: Digital image processing, 2nd edn. Prentice Hall, Englewood Cliffs (2001)
Jang, G.-j., Kweon, I.-s.: Robust Object Tracking Using an Adaptive Color Model. In: IEEE International Conf. on Robotics and Automation, pp. 1677–1682 (2001)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kim, MS., Heo, JS., Lee, JJ. (2005). Visual Tracking Algorithm for Laparoscopic Robot Surgery. In: Wang, L., Jin, Y. (eds) Fuzzy Systems and Knowledge Discovery. FSKD 2005. Lecture Notes in Computer Science(), vol 3614. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11540007_43
Download citation
DOI: https://doi.org/10.1007/11540007_43
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28331-7
Online ISBN: 978-3-540-31828-6
eBook Packages: Computer ScienceComputer Science (R0)