| This thesis proposes a novel and practical image tracking method to achieve automated instrument localization and endoscope maneuvering using a solo endoscope in laparoscopic surgery. Aspects of this approach, such as camera calibration, marker design, endoscopic image distortion correction, endoscope manipulator design and simulation, and image tracking are described in detail. In our work, we propose to attach a designed marker to the instruments. In the tracking process, the instrument's x and y positions are obtained by locating the center of the marker. The depth information, z, of the instrument is calculated from two points on the boundary of the marker which represent the diameter of the instrument. Thus, 3D tracking is realized by using only one endoscope. Experimental results show the feasibility of the proposed methods. (Abstract shortened by UMI.)... |
