Automatic tracking of laparoscopic instruments by color coding

In this paper we describe an autonomous laparoscopic guidance system for laparoscopic surgery. By analyzing the color histogram of typical laparoscopic images, we propose to code the instrument by a color that does not appear. In terms of image processing, we segment the color mark in the visual image and use the location information to control a robot such that the tip of the color-coded surgical instrument are continuously shown in the central area of the monitor device and a constant distance is held in the case of stereo. The system is implemented by using an image processing hardware and a robot which are all commercially available. Clinical tests show the robustness and efficacy of the system.