Commande par vision d'un robot de chirurgie laparoscopique

Abstract : This work presents a robotic vision system that automatically retrieves and positions surgical instruments during robotized laparoscopie surgical operations. The instrument is mounted on the end-effector of a surgical robot which is controlled by visual servoing. The goal of the automated task is to safely bring the instrument at a desired 3-D location from an unknown or hidden position. Light Emitting Diodes are attached on the tip of the instrument and a specifie instrument-bolder fitted with optical fibers is used to project laser dots on the surface of the organs. These optical markers are detected in the endoscopie image and allow to localize the instrument with respect to the scene. The instrument is recovered and centered in the image plane by means of a visual servoing algorithm using feature errors in the image. With this system, the surgeon can specify a desired relative position between the instrument and the pointed organ.
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https://hal.univ-lorraine.fr/tel-01749706
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Alexandre Krupa. Commande par vision d'un robot de chirurgie laparoscopique. Autre. Institut National Polytechnique de Lorraine, 2003. Français. ⟨NNT : 2003INPL035N⟩. ⟨tel-01749706⟩

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