Movatterモバイル変換


[0]ホーム

URL:


Skip to main content

Advertisement

Springer Nature Link
Log in

A study on surgical robot image stabilization

  • Published:
Multimedia Tools and Applications Aims and scope Submit manuscript

Abstract

This study aims to investigate and analyze various image stabilization methods used in surgical robotics. An in-vitro phantom experiment was conducted using a master slave tele-manipulated system. An articulable image probe on a tool (eye-on-tool) was installed on an open-source surgical robot, RAVEN. The 2D non-stereo camera image was used to validate the image stabilization methods, which were evaluated individually for each processing step: preprocessing, motion estimation, and motion compensation. During the preprocessing procedure, the performance of three different filters was tested for effective noise suppression. Various algorithms were compared to estimate the global motion vectors (GMVs) in the motion estimation step. Finally, three filters were analyzed to estimate the compensation motion vector (CMV) during the motion estimation procedure.

This is a preview of subscription content,log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
¥17,985 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (Japan)

Instant access to the full article PDF.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6

Similar content being viewed by others

Explore related subjects

Discover the latest articles and news from researchers in related subjects, suggested using machine learning.

References

  1. Arregui ME, Fitzgibbons RJ Jr, Namir KJ, Barry M, Harry R (1995) Principles of Laparoscopic Surgery: Basic and Advanced Techniques. Springer-Verlag, New York, pp 1–24

    Book  Google Scholar 

  2. Ballantyne GH, Marescaux J, Giulianotti PC (2004) Primer of robotic and telerobotic surgery. Lippincott Williams & Wilkins 1–4

  3. Christophe D, Nageotte F, Mathelin MD (2004) Detection of grey regions in color images: application to the segmentation of a surgical instrument in robotized laparoscopy. Int Robot Syst (IROS 2004) 4:3394–3399

    Article  Google Scholar 

  4. Danail S, Yang GZ (2007) Stabilization of image motion for robotic assisted beating heart surgery. In International Conference on Medical Image Computing and Computer-Assisted Intervention 417–424

  5. Ertürk S (2002) Real-time digital image stabilization using Kalman filters. Real-Time Imaging 8:317–328

    Article MATH  Google Scholar 

  6. Erturk S Digital image stabilization with sub-image phase correlation based global motion estimation. IEEE Trans Consum Electron 49:1320–1325

  7. Gonzalez RC, Woods RE (2002) Digital Image Processing. Prentice Hall.

  8. Hockstein NG, Gourin CG, Faust RA, Terris DJ (2007) A history of robots: from science fiction to surgical robotics. J Robot Surg 1:113–118

    Article  Google Scholar 

  9. Horn BK, Schunck BG (1983) Determining Optical Flow. Artif Intell 17:185–203

    Article  Google Scholar 

  10. Jobson DJ, Rahman ZU, Woodell GA (1997) Properties and Performance of a Center/Surround Retinex. IEEE Trans Image Process 6:451–462

    Article  Google Scholar 

  11. Jobson DJ, Rahman ZU, Woodell GA (1997) A Multi-Scale Retinex for Bridging the Gap Between Color Images and the Human Observation of Scenes. IEEE Trans Image Process 6:965–976

    Article  Google Scholar 

  12. Kinugasa T, Yamamoto N, Komatsu H, Imaide T (1990) Electronic Image Stabilization for Video Camera Use. IEEE Trans Consum Elec 36:520–525

    Article  Google Scholar 

  13. Ko JH, Yoon WJ, Kim YS (2013) Image Stabilization of Tele-surgical Robot based on Image Sensor. Adv Sci Technol Lett (ICCA 2013) 30:74–77

    Google Scholar 

  14. Kumar S, Narayanan MS, Singhal P, Corso JJ, Krovi V (2013) Product of tracking experts for visual tracking of surgical tools. In 2013 I.E. International Conference on Automation Science and Engineering (CASE) 480–485

  15. Land EH, McCann JJ (1971) Lightness and Retinex Theory. J Opt Soc Am A 61:1–11

    Article  Google Scholar 

  16. Lee SH, Jeon SW, Kang ES, Ko SJ (1999) Fast Digital Stabilizer Based on Gray Coded Bit-Plane Matching. IEEE Trans Consum Electron 45:598–603

    Article  Google Scholar 

  17. Lee CM, Engelbrecht CJ, Soper TD, Helmchen F, Seibel EJ (2010) Scanning fiber endoscopy with highly flexible, 1 mm catheterscopes for wide-field, full-color imaging. J Biophotonics 3:385

    Article  Google Scholar 

  18. Lucas BD, Kanade T (1981) An Iterative Image Registration Technique with an Application to Stereo Vision. IJCAI 81:674–679

    Google Scholar 

  19. Lum MJ, Friedman DC, Sankaranarayanan G, King H, Fodero K, Leuschke R, Hannaford B, Rosen J, Sinanan MN (2009) The raven: Design and validation of a telesurgery system. Int J Robot Res 28:1183–1197

    Article  Google Scholar 

  20. Mehmet K, Ozkan M, Sezan I, Tekalp AM (1993) Adaptive Motion-Compensated filtering of Noisy Image sequences. IEEE Trans Circ Syst Vid Technol 3:277–290

    Article  Google Scholar 

  21. Morimoto C, Rama C (1998) Evaluation of image stabilization algorithms. Acoust Speech Sign Proc 5:2789–2792

    Google Scholar 

  22. Offiah MC, Amin N, Gross T, El-Sourani N, Borschbach M (2013) Towards a benchmarking framework for quality-optimized endoscopic video stabilization. In ELMAR 23–26

  23. Ping Z (2005) Research on methods of motion estimation and compensation in electronic image stabilization technique. In Photonics Asia 182–188

  24. Rahman ZU, Jobson DJ, Woodell GA (1996) Multiscale Retinex for Color Image Enhancement. Image Proc 3:1003–1006

    Google Scholar 

  25. Rathinam S, Selvarajan S (2013) Comparison of Image Preprocessing Techniques on Fundus Images for Early Diagnosis of Glaucoma. Int J Sci Eng Res 4:1368–1372

    Google Scholar 

  26. Ryu J, Choi J, Kim HC (2013) Endoscopic Vision-Based Tracking of Multiple Surgical Instruments during Robot-Assisted Surgery. Artif Organs 37:107–112

    Article  Google Scholar 

  27. Seibel EJ, Brown CM, Dominitz JA, Kimmey MB (2008) Scanning single fiber endoscopy: a new platform technology for integrated laser imaging, diagnosis, and future therapies. Gastrointest Endosc Clin N Am 18:467–478

    Article  Google Scholar 

  28. Sung GT, Gill IS (2003) Robotic renal and adrenal surgery. Surg Clin North Am 83:1469–1482

    Article  Google Scholar 

  29. Tomasi C, Manduchi R (1998) Bilateral Filtering for Gray and Color Images. In Computer Vision 839–846

  30. Ton-Thi, Kim L, Nguyen TA, Hong MC (2014) Video stabilization algorithm using a moving alpha-trimmed mean filter window. Consumer Electronics (ISCE 2014), The 18th IEEE International Symposium on. IEEE

  31. Yoon WJ, Velasquez CA, Lee W, Hannaford WB, Kim YS, Lendvay TS (2014) Preliminary articulable probe designs with RAVEN and challenges: Image guided robotic surgery multitool system. J Med Dev 8:014505

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Computer Science and Engineering, Korea University of Technology and Education, Cheonan, South Korea

    Junho Ko & Yoon Sang Kim

  2. Engineering & Mathematics Division, Mechanical Engineering, University of Washington, Bothell, WA, USA

    Woon Jong Yoon

Authors
  1. Junho Ko
  2. Woon Jong Yoon
  3. Yoon Sang Kim

Corresponding author

Correspondence toYoon Sang Kim.

Rights and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Ko, J., Yoon, W.J. & Kim, Y.S. A study on surgical robot image stabilization.Multimed Tools Appl77, 9871–9883 (2018). https://doi.org/10.1007/s11042-017-5330-5

Download citation

Keywords

Access this article

Subscribe and save

Springer+ Basic
¥17,985 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (Japan)

Instant access to the full article PDF.

Advertisement


[8]ページ先頭

©2009-2025 Movatter.jp