Abstract
In this paper we describe an autonomous laparoscopic guidance system for laparoscopic surgery. By analyzing the color histogram of typical laparoscopic images, we propose to code the instrument by a color that does not appear. In terms of image processing, we segment the color mark in the visual image and use the location information to control a robot such that the tip of the color-coded surgical instrument are continuously shown in the central area of the monitor device and a constant distance is held in the case of stereo. The system is implemented by using an image processing hardware and a robot which are all commercially available. Clinical tests show the robustness and efficacy of the system.
This work was funded by the Bavarian Ministry of Economic Affairs, Transport, and Technology.
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© 1997 Springer-Verlag Berlin Heidelberg
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Wei, GQ., Arbter, K., Hirzinger, G. (1997). Automatic tracking of laparoscopic instruments by color coding. In: Troccaz, J., Grimson, E., Mösges, R. (eds) CVRMed-MRCAS'97. CVRMed MRCAS 1997 1997. Lecture Notes in Computer Science, vol 1205. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0029257
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DOI: https://doi.org/10.1007/BFb0029257
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