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Real-time Visual Tracking System and Control Method for Laparoscope Manipulator  

김민석 (삼성전자)
허진석 (한국과학기술원 기계공학과)
이정주 (한국과학기술원 기계공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.21, no.11, 2004 , pp. 83-90 More about this Journal
Abstract
In this paper we present a new real-time visual servoing unit for laparoscopic surgery This unit can automatically control laparoscope manipulator through visual tracking of laparoscopic surgical tool. For the tracking, we present two-stage adaptive CONDENSATION(conditional density propagation) algorithm to extract the accurate position of the surgical tool tip from a surgical image sequence in real-time. This algorithm can be adaptable to abrupt change of laparoscope illumination. For the control, we present virtual damper system to control a laparoscope manipulator safely and stably. This system causes the laparoscope to move under constraint of the virtual dampers which are linked to the four sides of image. The visual servoing unit operates the manipulator in real-time with locating the surgical tool in the center of image. The experimental results show that the proposed visual tracking algorithm is highly robust and the controlled manipulator can present stable view with safe.
Keywords
CONDENSATION; Laparoscope Surgery; Visual Servoing; Visual Tracking; Virtual Spring;
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