Real-time Visual Tracking for Laparoscopic Surgery
Real-time Visual Tracking for Laparoscopic Surgery
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In this paper, we present a new real？time visual servoing unit for laparoscope surgery. This unit is capable of controlling a laparoscope manipulator by tracking the laparoscope surgical tool. The two-stage adaptive condensation (conditional density propagation) algorithm is used to accurately detect the position of the surgical tool tip in real-time, from a surgical image sequence. This algorithm can also be adaptable to the abrupt illumination changes. The experimental results show that the proposed visual tracking algorithm is highly robust.
Abstract<BR>Ⅰ. INTRODUCTION<BR>Ⅱ. COLOR FEATURE<BR>Ⅲ. VISUAL TRACKING ALGORITHM<BR>Ⅳ. EXPERIMENTAL RESULTS<BR>Ⅴ. SUMMARY<BR>ACKNOWLEDGEMENTS<BR>REFERENCES<BR>
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