Robotic Endoscope Control Via Autonomous Instrument Tracking

  title={Robotic Endoscope Control Via Autonomous Instrument Tracking},
  author={Caspar Gruijthuijsen and Luis C. Garc{\'i}a-Peraza-Herrera and Gianni Borghesan and Dominiek Reynaerts and Jan A. Deprest and S{\'e}bastien Ourselin and Tom Kamiel Magda Vercauteren and Emmanuel B. Vander Poorten},
  journal={Frontiers in Robotics and AI},
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may lead to reduced image stability, increased task completion time and sometimes errors due to the monotony of the task. Robotic endoscope holders, controlled by a set of basic instructions, have been proposed as an alternative, but their unnatural handling may… 

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  • K. SongChun-Ju Chen
  • Computer Science
    2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
  • 2012
An image tracking system with a stable view for minimally invasive surgery (MIS) by using monocular endoscope is developed by setting a buffer zone in the center of image frame for the robotic camera holder to track the endoscope instruments.