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The International Journal of Robotics Research
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Automatic Detection of Instruments in Laparoscopic Images: A First Step Towards High-level Command of Robotic Endoscopic Holders

Sandrine Voros

Université J. Fourier, Laboratoire TIMC-IMAG, CNRS UMR 5525, INSERM, IFR 130, F-38000 Grenoble, France sandrine.voros{at}imag.fr

Jean-Alexandre Long

Department of Urology, University Hospital, Grenoble France

Philippe Cinquin

Université J. Fourier, Laboratoire TIMC-IMAG CNRS, UMR 5525, INSERM, IFR 130 F-38000 Grenoble, France philippe.cinquin{at}imag.fr

The tracking of surgical instruments o fers interesting possibilities for the development of high-level commands for robotic camera holders in laparoscopic surgery. We have developed a new method to detect instruments in laparoscopic images which uses information on the 3D position of the insertion point of an instrument into the abdominal cavity. This information strongly constrains the search for the instrument in each endoscopic image. Hence, the instrument can be detected in near real-time using shape considerations. Early results on laparoscopic images show that the method is rapid and robust in the presence of partial occlusion and smoke. Our first experiment on a cadaver validates our approach and shows encouraging results.

Key Words: medical robots and systems • visual tracking

The International Journal of Robotics Research, Vol. 26, No. 11-12, 1173-1190 (2007)
DOI: 10.1177/0278364907083395
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