Volume 26 Issue 11-12 - Publication Date: 1 November- December June 2007
Automatic Detection of Instruments in Laparoscopic Images: A First Step Towards High-level Command of Robotic Endoscopic Holders
S. Voros, Université J. Fourier, Laboratoire TIMC-IMAG, CNRS UMR 5525, INSERM, IFR 130, F-38000 Grenoble, FranceJ.-A. Long, Department of Urology, University Hospital, Grenoble France and P. Cinquin SUniversité J. Fourier, Laboratoire TIMC-IMAG CNRS, UMR 5525, INSERM, IFR 130 F-38000 Grenoble, France
The tracking of surgical instruments offers interesting possibilities for the development of high-level commands for robotic camera holders in laparoscopic surgery. We have developed a new method to detect instruments in laparoscopic images which uses information on the 3D position of the insertion point of an instrument into the abdominal cavity. This information strongly constrains the search for the instrument in each endoscopic image. Hence, the instrument can be detected in near real-time using shape considerations. Early results on laparoscopic images show that the method is rapid and robust in the presence of partial occlusion and smoke. Our first experiment on a cadaver validates our approach and shows encouraging results.
Multimedia Key
= Video = Data = Code = Image
Example 1: Video showing the result of the tracking of an instrument on a test bench. (8.9 MB) mpg
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