腹腔鏡下手術における自動拡大追尾システムの実装

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In conventional laparoscopic surgery, one medical doctor who only holds the laparoscope during the surgery is required. Therefore, in this study, we introduce an automatic tracking and zooming system for laparoscopic surgery by means of a steady laparoscope on the abdominal surface. The system can be added to a conventional laparoscopic system and can analyze camera images in real-time. The markers of this system are attached at the top of the forceps and extracted, and the focusing area can be estimated. In this study, we introduce two marker tracking algorithms; one tracks a single marker on the forceps, which is assumed as the focal point; and the other tracks two different colored markers, which can estimate a more practical focusing point. In order to perform high-quality real-time movie processing, the system uses a CPU and GPU (graphics processing unit) in parallel. The tracking algorithm is carried out by the CPU, image enlargement is carried out by the GPU, and then a high frame rate and low delay time are achieved. For the automatic smooth camera work, a new control model with many parameters is proposed. Through animal experimentation was performed six times, and appropriate values of parameters evaluated by two experienced doctors were obtained. After the evaluations of the experienced doctors, the effectiveness of the system was proven: cholecystectomy successfully conducted in animal experiments without the support of a scope-holding doctor.
社団法人日本生体医工学会の論文
2005-12-10

腹腔鏡下手術における自動拡大追尾システムの実装

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