Visual Tracking of Surgical Instruments for Control of an Endoscopic Robot

Abstract

The purpose of this study is to develop a procedure for visual tracking of surgical instruments for control of an endoscopic robot. The proposed method is mainly based on the color features, which are including R, G and B of the RGB color space and S (Saturation) of the HSV color space and used for recognition of surgical instruments in endoscopic images. For verification, our method was applied to two endoscopic surgery videos with different color features.