Visual servoing of a robotic endoscope holder based on surgical instrument tracking
| Autor: | Rémi Wolf, Sandrine Voros, Anthony Agustinos, J. A. Long, Philippe Cinquin |
|---|---|
| Přispěvatelé: | Gestes Medico-chirurgicaux Assistés par Ordinateur (TIMC-IMAG-GMCAO), Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525 (TIMC-IMAG), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF), CHU Grenoble, Université Joseph Fourier - Grenoble 1 (UJF)-CHU Grenoble, Centre d'Investigation Clinique - Innovation Technologique - INSERM - CHU de Grenoble (CIC-IT Grenoble (CIT803)), CHU Grenoble-Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Grenoble Alpes (UGA), ANR-09-TECS-0006,DEPORRA,Dispositif et systEmes ciblés pour la PrOstatectomie Radicale Robotisée Augmentée(2009), ANR-11-LABX-0004,CAMI,Gestes Médico-Chirurgicaux Assistés par Ordinateur(2011) |
| Jazyk: | angličtina |
| Rok vydání: | 2014 |
| Předmět: |
Laparoscopic surgery
Robot kinematics Engineering Test bench Endoscope business.industry medicine.medical_treatment ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION technology industry and agriculture Visual servoing Tracking (particle physics) [SPI.AUTO]Engineering Sciences [physics]/Automatic medicine Surgical instrument Computer vision [SDV.IB]Life Sciences [q-bio]/Bioengineering Artificial intelligence business [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing Endoscopic image |
| Zdroj: | Biomedical Robotics and Biomechatronics Biomedical Robotics and Biomechatronics, Aug 2014, Sao Paulo, Brazil. pp.13-18, ⟨10.1109/BIOROB.2014.6913744⟩ BioRob Scopus-Elsevier |
| Popis: | International audience; We propose an image-based control for a roboticendoscope holder during laparoscopic surgery. Our aim is toprovide more comfort to the practitioner during surgery byautomatically positioning the endoscope at his request. To doso, we propose to maintain one or more instruments roughly atthe center of the laparoscopic image through different commandmodes. The originality of this method relies on the direct useof the endoscopic image and the absence of artificial markersadded to the instruments. The application is validated on a testbench with a commercial robotic endoscope holder. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|