Automated instrument tracking in robotically assisted laparoscopic surgery

This paper describes a practical and reliable image analysis and tracking algorithm to achieve automated instrument localization and scope maneuvering in robotically assisted laparoscopic surgery. Laparoscopy is a minimally invasive surgical procedure that utilizes multiple small incisions on the patient's body through which the surgeon inserts tools and a videoscope in order to conduct an operation. The scope relays images of internal organs to a camera, and the images are displayed on a video screen. The surgeon performs the operation by viewing the scope images rather than performing the traditional “open” procedure, where a large incision is made on the patient's body for direct viewing.

The current mode of laparoscopy employs an assistant to hold the scope and position it in response to the surgeon's verbal commands. However, this results in suboptimal visual feedback, because the scope is often aimed incorrectly and vibrates due to hand trembling. We have developed a robotic laparoscope positioner to replace the assistant. The surgeon commands the robotic positioner through a hand/foot controller interface. To further simplify the human-machine interface that controls the robotic scope positioner, we report here a novel scope-positioning scheme using automated image analysis and robotic visual servoing. The scheme enables the surgeon to control visual feedback and to perform surgery more efficiently without requiring additional use of the hands. J Image Guid Surg 1:308–325 (1995). © 1996 Wiley-Liss, Inc.