Automatic instrument localization in laparoscopic surgery
This paper presents a tracking algorithm for automatic instrument localization in robotically assisted laparoscopic surgery. We present a simple and robust system that doesn't need the presence of artificial marks, or special colours to distinguish the instruments. So, the system enables the ro...
| Autores: | , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2004 |
| País: | España |
| Institución: | Universitat Autònoma de Barcelona |
| Repositorio: | Dipòsit Digital de Documents de la UAB |
| Idioma: | inglés |
| OAI Identifier: | oai:ddd.uab.cat:24309 |
| Acceso en línea: | https://ddd.uab.cat/record/24309 https://dx.doi.org/urn:doi:10.5565/rev/elcvia.70 |
| Access Level: | acceso abierto |
| Palabra clave: | Laparoscopic surgery Object recognition Hough transform Image processing system Real-time tracking Cirurgia d'invasió mínima Reconeixement objecte Tècnica d'extracció de característiques Sistema de processament d'imatges Rastreig en temps real Cirugía de invasión mínima Reconocimiento objeto Técnica de extracción de características Sistema de procesamiento de imágenes Rastreo en tiempo real |
| Sumario: | This paper presents a tracking algorithm for automatic instrument localization in robotically assisted laparoscopic surgery. We present a simple and robust system that doesn't need the presence of artificial marks, or special colours to distinguish the instruments. So, the system enables the robot to track the usual instruments used in laparoscopic operations. Since the instruments are normally the most structured objects in laparoscopic scenes, the algorithm uses the Hough transform to detect straight lines in the scene. In order to distinguish among different instruments or other structured elements present in the scene, motion information is also used. We give in this paper a detailed description of all stages of the system. |
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