Visual servoing of a robotic endoscope holder based on surgical instrument tracking

Anthony Agustinos (1) , Jean-Alexandre Long (1, 2) , Philippe Cinquin (1, 3) , Rémi Wolf (1) , Sandrine Voros (1)

1 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
2 CHUGA - Centre Hospitalier Universitaire [CHU Grenoble]
3 CIC-IT Grenoble (CIT803) - Centre d'Investigation Clinique - Innovation Technologique - INSERM - CHU de Grenoble

We propose an image-based control for a robotic endoscope holder during laparoscopic surgery. Our aim is to provide more comfort to the practitioner during surgery by automatically positioning the endoscope at his request. To do so, we propose to maintain one or more instruments roughly at the center of the laparoscopic image through different command modes. The originality of this method relies on the direct use of the endoscopic image and the absence of artificial markers added to the instruments. The application is validated on a test bench with a commercial robotic endoscope holder.

Domaines: Automatique / Robotique; Traitement du signal et de l'image [eess.SP]; Ingénierie biomédicale

Anthony Agustinos, Jean-Alexandre Long, Philippe Cinquin, Rémi Wolf, Sandrine Voros. Visual servoing of a robotic endoscope holder based on surgical instrument tracking. Biomedical Robotics and Biomechatronics, Aug 2014, Sao Paulo, Brazil. pp.13 - 18, ⟨10.1109/BIOROB.2014.6913744⟩. ⟨hal-01164895⟩