Real-time Visual Tracking for Laparoscopic Surgery

• 영문명: Real-time Visual Tracking for Laparoscopic Surgery
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Min-Seok Kim Jin-Seck Heo Jung-Ju Lee
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.5 No.1, 2~9쪽, 전체 8쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2004.04.01

영문 초록

  In this paper, we present a new real？time visual servoing unit for laparoscope surgery. This unit is capable of controlling a laparoscope manipulator by tracking the laparoscope surgical tool. The two-stage adaptive condensation (conditional density propagation) algorithm is used to accurately detect the position of the surgical tool tip in real-time, from a surgical image sequence. This algorithm can also be adaptable to the abrupt illumination changes. The experimental results show that the proposed visual tracking algorithm is highly robust.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. COLOR FEATURE
Ⅲ. VISUAL TRACKING ALGORITHM
Ⅳ. EXPERIMENTAL RESULTS
Ⅴ. SUMMARY
ACKNOWLEDGEMENTS
REFERENCES