서지주요정보
복강경 수술용 도구의 실시간 영상 추적 및 복강경 조종기의 지능형 제어 방법 = Real-time visual servoing for laparoscopic surgery
서명 / 저자 복강경 수술용 도구의 실시간 영상 추적 및 복강경 조종기의 지능형 제어 방법 = Real-time visual servoing for laparoscopic surgery / 김민석.
발행사항 [대전 : 한국과학기술원, 2003].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8013864

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 03022

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

리뷰정보

초록정보

Laparoscopic surgery is minimally invasive surgery (MIS), a new kind of surgery that gets more and more common nowadays. In this method, a surgical operation is performed by the help of laparoscope and several long, thin, rigid instruments through small incisions. In recent years, laparoscope manipulator that substitutes a camera assistant in surgical operations, is used more widely in laparoscopic surgery. But it is a bothersome task for surgeon to control laparoscope manipulator manually or with his voice. In this paper, a new real-time visual servoing unit for laparoscopic surgery is presented. This unit can automatically control laparoscope manipulator through visual tracking of laparoscopic surgical tool. Therefore the unit is composed of two parts. One is visual tracking part and the other is manipulator controlling part. To track the instrument robustly in real-time, two-stage adaptive Condensation (Conditional Density Propagation) algorithm has been proposed. The proposed algorithm is based on the Condensation algorithm which is known as the visual tracking method using stochastic propagation of conditional density. The proposed algorithm utilizes color features as measures of the Condensation algorithm, that help the algorithm realize real-time visual tracking. To find out tip position of the surgical tool obviously in possible surgical environment, the algorithm update the color feature of surgical tool and then apply the Condensation tracker in two-stage To control laparoscope manipulator safely and stably, intelligent control method has been applied. This method utilizes virtual damper system in controlling the manipulator. The virtual damper system can play the parts of safety device and real damper in surgery. So the motion of manipulator is limited in safe region of surgery and achieved stably. Finally, to verify the visual servoing unit, a conventional laparoscope manipulator AESOP has been utilized. The experimental results show that the proposed visual tracking algorithm is highly robust and the controlled manipulator can present stable view with safe.

서지기타정보

서지기타정보
청구기호 {MME 03022
형태사항 viii, 60 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Min-Seok Kim
지도교수의 한글표기 : 이정주
지도교수의 영문표기 : Jung-Ju Lee
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 : p. 59-60
주제 영상 추적
지능형 제어
복강경 수술
최소 침습 수술
컨덴세이션
visual servoing
visual tracking
intelligent control
laparoscopic surgery
condensation
QR CODE qr code