Seminar 2007 10 24 robotic camera holder

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CISST ERC Seminar
Towards the closed-loop command of a robotic camera-holder: benefits of the contextual analysis of endoscopic images

Date: Wednesday, October 24, 2007
Time: 12:00pm
Place: CSEB B17 (Lunch will be served - 11:30am)

Speaker: Sandrine Voros
JHU
Title: Towards the closed-loop command of a robotic camera-holder: benefits of the contextual analysis of endoscopic images
Presentation: PDF, not yet uploaded

Abstract

The development of laparoscopy is closely linked to the advances in instrumentation, allowing to combine the efficacy of surgery and a minimally invasive approach. Today, robotic systems can assist a surgeon during a minimally invasive intervention, but their diffusion in French hospitals is still limited because of their bulkiness, their cost, and the change they might induce to surgical practice. Research trends in this field aim towards a better adaptation of these systems to surgical constraints.

In this seminar, I will present the work related to my PhD thesis in the GMCAO team in the TIMC laboratory in Grenoble, France. My objective was to control a robotized endoscopic camera holder thanks to high-level commands mimicking the task of the assistant in charge of manipulating the endoscope in conventional laparoscopy. First, I built a model of the field of laparoscopic surgery highlighting the role of the assistant. It allowed me to identify the commands primitives to develop. Then, I worked on the conception and development of the selected command primitives, especially a command dedicated to the robot's automatic tracking of surgical instruments based on the analysis of the endoscopic images. The instrument detection algorithm was first validated on numerized images extracted from surgical procedures. Then a cadaver experiment was performed, during which we were able to track a surgical instrument with the robot, in conditions close to clinical conditions.