title: Real-time visual servoing for laparoscopic surgery. Controlling robot motion with color image segmentation.
authors.affiliation: German Aerospace Research Establishment, Institute of Robotics and System Dynamics, DLR Oberpfaffenhofen.
authors.forename: G Q
authors.initials: GQ
authors.lastname: Wei
authors.forename: K
authors.initials: K
authors.lastname: Arbter
authors.forename: G
authors.initials: G
authors.lastname: Hirzinger
mesh_terms: D000818:Animals; D001698:Biomedical Engineering; D003116:Color; D004867:Equipment Design; D004869:Equipment Safety; D006801:Humans; D007091:Image Processing, Computer-Assisted / Q000295:instrumentation / Q000379:methods*; D020706:Laparoscopes; D010535:Laparoscopy / Q000379:methods; D010363:Pattern Recognition, Automated; D012371:Robotics / Q000295:instrumentation / Q000379:methods; D013552:Swine