title: Real-time 3D visual tracking of laparoscopic instruments for robotized endoscope holder.
abstract: Robotized endoscope holder in laparoscopic surgeries allows surgeons to control the endoscope without the assistants' intervention. In this paper, a new method is proposed for the automatic 3D-tracking of laparoscopic instruments in real-time to provide more convenient interactions between surgeons and the robotized endoscope holder. The method is based on the 3D position measurements of the insertion points of the instruments and the strip markers, combined with the depth estimation of the instruments. The results of our experiments show that our method is fast and robust in the simulated laparoscopic surgeries.
authors.affiliation: School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong China.
authors.forename: Zijian
authors.initials: Z
authors.lastname: Zhao
mesh_terms: D000465:Algorithms; D003199:Computer Systems; D019723:Endoscopes; D004867:Equipment Design; D019544:Equipment Failure Analysis; D057918:Fiducial Markers; D006801:Humans; D007090:Image Interpretation, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D021621:Imaging, Three-Dimensional / Q000295:instrumentation* / Q000379:methods; D020706:Laparoscopes; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014584:User-Computer Interface
keywords: Laparoscopic surgery; localization of instrument; robotized camera holder; tool tracking