Experimental verification of visual tracking of surgical tools

Abstract

In the paper, experimental verification of vision feedback in position control of surgical tools for minimal invasive surgery (MIS) (Dutkiewicz et al., 2004) is presented. The laparoscope positioning is based on computer recognition of surgical tools on the image from a laparoscopic camera. Experimental results, obtained from special laboratory test bed based on the Staubli robot equipped with laparoscopic camera are presented.