Automatic detection of instruments in laparoscopic images: a first step towards high level command of robotized endoscopic holders

The tracking of surgical instruments offers interesting possibilities for the development of high level commands for robotized camera holders in laparoscopic surgery. We present a new method to detect instruments in laparoscopic images which uses information on the 3D position of the insertion point of an instrument in the abdominal cavity. This information strongly constrains the search for the instrument in each endoscopic image. Hence, the instrument can be detected thanks to shape considerations, which would otherwise not be feasible in near real time. Early results show that the method is rapid and robust to partial occlusion and smoke