Abstract
Minimally invasive surgery in combination with ultrasound (US) imaging imposes high demands on the surgeon's hand-eye-coordination capabilities. A possible solution to reduce these requirements is minimally invasive robotic surgery in which the instrument is guided by visual servoing towards the goal defined by the surgeon in the US image. This approach requires robust tracking of the instrument in the US image sequences which is known to be difficult due to poor image quality. This paper presents computer vision algorithms and results of experiments for different instrument materials.
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© 2005 Springer-Verlag Berlin Heidelberg
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Ortmaier, T., Morel, G., Vitrani, MA. (2005). Real-Time Instrument Tracking in Ultrasound Images for Visual Servoing. In: Meinzer, HP., Handels, H., Horsch, A., Tolxdorff, T. (eds) Bildverarbeitung für die Medizin 2005. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26431-0_48
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DOI: https://doi.org/10.1007/3-540-26431-0_48
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-25052-4
Online ISBN: 978-3-540-26431-6
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