Proceedings on Automation in Medical Engineering
Vol. 1 No. 1 (2020): Proc AUTOMED

Modelling and control, ID 001

Visual Servoing for Tracking Cartilage with a Robotic Endoscope

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Lorin Fasel (BIROMED-Lab, Department of Biomedical Engineering, University of Basel), Stephan Schraivogel (BIROMED-Lab, Department of Biomedical Engineering, University of Basel), Nicolas Gerig (BIROMED-Lab, Department of Biomedical Engineering, University of Basel), Niklaus Friederich (Department of Orthopedic Surgery, University Hospital Basel, Switzerland), Azhar Zam (BLOG, Department of Biomedical Engineering, University of Basel), Philippe Cattin (CIAN, Department of Biomedical Engineering, University of Basel), Georg Rauter (BIROMED-Lab, Department of Biomedical Engineering, University of Basel)

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Abstract

This paper describes the visual servoing of a robotic endoscope prototype by tracking cartilage in visual feedback from a miniature camera. To track the movement of tissue relative to the camera, three different image processing algorithms were implemented and compared in a first experiment on cartilage of a porcine knee. The experiment showed that tracking cartilage is feasible with a miniature camera and can be used to perform visual servoing with an endoscope.

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