Application of visual tracking for robot-assisted laparoscopic surgery

With the increasing popularity of laparoscopic surgery, the demand for better modes of laparoscopic surgery also increases. The current laparoscopic surgery mode requires an assistant to hold and manipulate the endoscope through commands from the surgeon. However, during lengthy surgery procedures, accurate and on time adjustment of the camera cannot be guaranteed due to the fatigue and hand trembling of the camera assistant. This paper proposes a practical visual tracking method to achieve automated instrument localization and endoscope maneuvering in robot-assisted laparoscopic surgery. Solutions concerning this approach, such as, endoscope calibration, marker design, distortion correction and endoscope manipulator design are described in detail. Experimental results are presented to show the feasibility of the proposed method.