Autonomous and stable tracking of endoscope instrument tools with monocular camera

Kai-Tai Song*, Chun Ju Chen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations

Abstract

With an autonomous tool tracking system, surgeons do not need to handle the endoscope during surgery. This paper aims to develop an image tracking system with a stable view for minimally invasive surgery (MIS) by using monocular endoscope. In order to provide a stable view for the surgery, we propose to set a buffer zone in the center of image frame for the robotic camera holder to track the endoscope instruments. If endoscope instruments are inside the buffer zone, the endoscope robot will keep still. However, if one or both of them move away from the buffer zone, the robot will start to track the instrument. Furthermore, by calculating the distance between two instruments in the image plane, the robotic camera holder can track the depth to the instruments. The robot will therefore zoom in if the distance is too short. A safe distance from the camera lens to instrument tools can therefore be maintained during the image tracking. Preliminary experimental results show that the proposed design achieves satisfactory tracking accuracy in real time and provides a stable view simultaneously.

Original languageEnglish
Title of host publicationAIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
Pages39-44
Number of pages6
DOIs
StatePublished - 5 Oct 2012
Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan
Duration: 11 Jul 201214 Jul 2012

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
CountryTaiwan
CityKaohsiung
Period11/07/1214/07/12

Fingerprint Dive into the research topics of 'Autonomous and stable tracking of endoscope instrument tools with monocular camera'. Together they form a unique fingerprint.

Cite this