Biomedical subjects

D R Uecker

Publications and source records attributed to D R Uecker.

2 recordsLinked to original sources

PubMed1995

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.

Algorithms↗

PubMedDate not supplied

A new framework for vision-enabled and robotically assisted minimally invasive surgery.

This paper presents our on-going research at bringing the state-of-the-art in vision and robotics technologies to enhance the emerging minimally invasive surgery, in particular the laparoscopic surgical procedure. A framework that utilizes intelligent visual modeling, recognition, and serving capabilities for assisting the surgeon in maneuvering the scope (camera) in laparoscopy is proposed. The proposed framework integrates top-down model guidance, bottom-up image analysis, and surgeon-in-the-loop monitoring for added patient safety. For the top-down directives, high-level models are used to represent the abdominal anatomy and to encode choreographed scope movement sequences based on the surgeon's knowledge. For the bottom-up analysis, vision algorithms are designed for image analysis, modeling, and matching in a flexible, deformable environment (the abdominal cavity). For reconciling the top-down and bottom-up activities, robot servoing mechanisms are realized for executing choreographed scope movements with active vision guidance. The proposed choreographed scope maneuvering concept facilitates the surgeon's control of his/her visual feedback in a handless manner, reduces the risk to the patient from inappropriate scope movements by an assistant, and allows the operation to be performed faster and with greater ease. In this paper, we describe the new framework and present some preliminary results on laparoscopic image analysis for segmentation and instrument localization, and on instrument tracking.

Humans↗