ViKY Robotic Scope Holder: Initial Clinical Experience and Preliminary Results Using Instrument Tracking
ABSTRACT Robotic endoscope holders constitute an alternative to complete telesurgery systems, by offering a “third hand” to the surgeon during a laparoscopic procedure. ViKY robotic scope holder (Endocontrol, Grenoble, France) is a lightweight, sterilizable body-mounted robot with 3 DOF. In this paper, we present the specifics of this robot, the newly developed XL version dedicated to single-port surgery and the initial clinical experience. We have proposed a method to control the robot, based on the detection and tracking of surgical instrument from image analysis and shape priors, to enrich the interaction between the surgeon and the robot. We present here, our work in progress toward its integration into a probabilistic framework, with the aim of improving the method's speed and robustness. We also present the surgeons' viewpoints on the feasibility of its integration into the operating theater.
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ABSTRACT: The problem of tracking curves in dense visual clutter is challenging. Kalman filtering is inadequate because it is based on Gaussian densities which, being unimo dal, cannot represent simultaneous alternative hypotheses. The Condensation algorithm uses factored sampling, previously applied to the interpretation of static images, in which the probability distribution of possible interpretations is represented by a randomly generated set. Condensation uses learned dynamical models, together with visual observations, to propagate the random set over time. The result is highly robust tracking of agile motion. Notwithstanding the use of stochastic methods, the algorithm runs in near real-time.International Journal of Computer Vision 07/1998; 29(1):5-28. · 3.62 Impact Factor
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ABSTRACT: In this paper, the real-time segmentation of surgical instruments with color images used in minimally invasive surgery is addressed. This work has been developed in the scope of the robotized laparoscopic surgery, specifically for the detection and tracking of gray regions and accounting for images of metallic instruments inside the abdominal cavity. With this environment, the moving background due to the breathing motion, the non-uniform and time-varying lighting conditions and the presence of specularities are the main difficulties to overcome. Then, to achieve an automatic color segmentation suitable for robot control, we developed a technique based on a discriminant color feature with robustness capabilities with respect to intensity variations and specularities. We also designed an adaptive region growing with automatic region seed detection and a model-based region classification, both dedicated to laparoscopy. The foreseen application is a good training ground to evaluate the proposed technique and the effectiveness of this work has been demonstrated through experimental results with endoscopic image sequences to efficiently locate boundaries of a landmark-free needle-holder at half the video-rate.Real-Time Imaging. 01/2005; 11:429-442.
Conference Proceeding: Real-Time Visual Tracking of the Surgeon's Face for Laparoscopic Surgery.[show abstract] [hide abstract]
ABSTRACT: We have developed an image-based human-machine interface that tracks the surgeon’s face robustly in real-time(30Hz) and does not require to use any body-contacted sensing devices. Based on this face tracker we have developed a new robotic laparoscope positioning system for solo surgery. Our system completely frees the surgeon’s hands and feet from the laparoscope guiding task. To evaluate the performance of the proposed system and its applicability to clinical use, an in vivo experiment was carried out in which a surgeon used the system to perform a laparoscopic cholecystectomy on a pig.Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001, 4th International Conference, Utrecht, The Netherlands, October 14-17, 2001, Proceedings; 01/2001