1995
DOI: 10.1002/(sici)1522-712x(1995)1:6<308::aid-igs3>3.0.co;2-e
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Automated instrument tracking in robotically assisted laparoscopic surgery

Abstract: This paper describes a practical and reliable image analysis and tracking algorithm to achieve automated instrument localization and scope maneuvering in robotically assisted laparoscopic surgery. Laparoscopy is a minimally invasive surgical procedure that utilizes multiple small incisions on the patient's body through which the surgeon inserts tools and a videoscope in order to conduct an operation. The scope relays images of internal organs to a camera, and the images are displayed on a video screen. The sur… Show more

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Cited by 48 publications
(22 citation statements)
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“…Other approaches (that do not necessarily modify the tool itself) include: using color space for classification of pixel into instruments and organs, performing shape analysis of these classification labels and then predicting the location of tool in next frame using an Auto Regressive Model [23].…”
Section: Related Workmentioning
confidence: 99%
“…Other approaches (that do not necessarily modify the tool itself) include: using color space for classification of pixel into instruments and organs, performing shape analysis of these classification labels and then predicting the location of tool in next frame using an Auto Regressive Model [23].…”
Section: Related Workmentioning
confidence: 99%
“…In robotic surgery systems, visual servoing requires vision-based instrument tracking and a system for simplifying camera control was shown with the development of the AESOP robotic laparoscope holder. 122 The proposed visual instrument tracking method was based on the probabilistic classification of image pixels based on their color using a Bayesian filter. This was followed by clustering, cluster analysis and temporal filtering.…”
Section: Instrument Detection and Trackingmentioning
confidence: 99%
“…This presents another opportunity for robotic assistance, especially when computer control can improve the efficiency or quality of assistance. Some of the earliest medical robots, such as Aesop [49] and LARS [47], were camera holders for minimally invasive procedures. In these systems, the surgeon used an alternate interface, such as a foot pedal or speech, to command the robot to reposition the camera.…”
Section: The Surgical Assistance Conceptmentioning
confidence: 99%