Automatic tracking of laparoscopic instruments for autonomous control of a cameraman robot.
BackgroundAn automated instrument tracking procedure was designed and developed for autonomous control of a cameraman robot during laparoscopic surgery.Material and methodsThe procedure was based on an innovative marker-free segmentation algorithm for detecting the tip of the surgical instruments in...
| Publicado en: | Minimally Invasive Therapy & Allied Technologies Vol. 25; no. 3; pp. 121 - 129 |
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| Autores principales: | , , |
| Formato: | equations & formulas pictorial research tables/charts Journal Article |
| Publicado: |
Taylor & Francis Ltd
Jun2016
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| Acceso en línea: | Ver este registro en EBSCOhost |
| fields | @attributes: recordID: 1 pdfLink: plink: https://search.ebscohost.com/login.aspx?direct=true&db=ccm&AN=114607539&site=ehost-live header: @attributes: shortDbName: ccm uiTerm: 114607539 longDbName: CINAHL Complete uiTag: AN controlInfo: bkinfo: dissinfo: jinfo: jid: 13645706 J4S jtl: Minimally Invasive Therapy & Allied Technologies issn: 13645706 maglogo: Y pubinfo: dt: Jun2016 vid: 25 iid: 3 pid: 377 pub: Taylor & Francis Ltd place: Philadelphia, Pennsylvania artinfo: ui: 114607539 114607539 114607539 10.3109/13645706.2016.1141101 114607539 ppf: 121 ppct: 8 formats: fmt: – @attributes: type: T – @attributes: type: P tig: atl: Automatic tracking of laparoscopic instruments for autonomous control of a cameraman robot. aug: au: Amini Khoiy, Keyvan Mirbagheri, Alireza Farahmand, Farzam affil: RCBTR, Tehran University of Medical Sciences, Tehran, Iran sug: subj: Surgery, Laparoscopic Methods Robotics Photography Human Algorithms Funding Source Surgery, Laparoscopic Equipment and Supplies Validity ab: BackgroundAn automated instrument tracking procedure was designed and developed for autonomous control of a cameraman robot during laparoscopic surgery.Material and methodsThe procedure was based on an innovative marker-free segmentation algorithm for detecting the tip of the surgical instruments in laparoscopic images. A compound measure of Saturation and Value components of HSV color space was incorporated that was enhanced further using the Hue component and some essential characteristics of the instrument segment, e.g., crossing the image boundaries. The procedure was then integrated into the controlling system of the RoboLens cameraman robot, within a triple-thread parallel processing scheme, such that the tip is always kept at the center of the image.ResultsAssessment of the performance of the system on prerecorded real surgery movies revealed an accuracy rate of 97% for high quality images and about 80% for those suffering from poor lighting and/or blood, water and smoke noises. A reasonably satisfying performance was also observed when employing the system for autonomous control of the robot in a laparoscopic surgery phantom, with a mean time delay of 200ms.ConclusionIt was concluded that with further developments, the proposed procedure can provide a practical solution for autonomous control of cameraman robots during laparoscopic surgery operations. pubtype: Academic Journal doctype: equations & formulas pictorial research tables/charts Journal Article ougenre: Article language: English refInfo: holdings: @attributes: islocal: N |
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