Florent Nageotte

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This paper presents an endoscopic vision framework for model-based 3D guidance of surgical instruments used in robotized laparoscopic surgery. In order to develop such a system, a variety of challenging seg-mentation, tracking and reconstruction problems must be solved. With this minimally invasive surgical technique, every single instrument has to pass(More)
— In this paper, the detection and localization of grey regions in color images is addressed. This work has been developed in the scope of the robotized laparoscopic surgery, specifically for surgical procedures occuring inside the abdominal cavity. Since very few works have been already published about that purpose, some existing algorithms have been(More)
The work presented in this paper addresses the problem of the stitching task in laparoscopic surgery using a circular needle and a conventional 4 DOFs needle-holder. This task is particularly difficult for the surgeons because of the kinematic constraints generated by the fulcrum in the abdominal wall of the patient. In order to assist the surgeons during(More)
The field of vision-based robotics has been widely growing for more than three decades, and more and more complex 3-D scenes are within robot vision capabilities thanks to better understanding of the scenes, improvement of computer capabilities and control theory. The achievement of applications like medical robotics, mobile robotics, micro-robotic(More)
— Flexible endoscopes are used in many surgical procedures and diagnostic exams, like in gastroscopy or coloscopy. They have also been used recently for new surgical procedures using natural orifices called NOTES. While these procedures are very promising for the patients, they are quite awkward for the surgeons. The flexible endoscope allows the access to(More)