Sing Chun Lee

Image-Based Trajectory Tracking Control of 4-DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker

In this letter, we propose a new method to fully control complete 4-image-DoF manipulation of laparoscopic instruments [with remote center of motion (RCM) mechanism] based on the geometric features of a designed marker in a 2-D image. Our marker encodes the configuration of the instruments by comput