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International Journal of Telemedicine and Applications
Volume 2009 (2009), Article ID 627625, 4 pages
Research Article

Temporal Matching in Endoscopic Images for Remote-Controlled Robotic Surgery

1Key Laboratory for Biomedical Informatics and Health Engineering, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518067, China
2STI Medical Systems, 733 Bishop Street no. 3100, Honolulu, HI 96813, USA

Received 23 October 2008; Accepted 4 February 2009

Academic Editor: Fei Hu

Copyright © 2009 Jia Gu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Temporal matching is applied in the frame of the formation of high-level entities in remote-controlled robotic surgery. The objective is to track tumor boundaries over time to improve the segmentation stage in each image of the sequence to facilitate the tracking and localization of the tumor. It makes use of an attributed string matching technique to find the correspondence between tumor boundaries over time. Relationships are then exploited to reconstitute the tumor boundaries and remove the inconsistencies coming from the detection errors. Input data are free form shapes of different length representing the tumor boundary, extracted at a previous stage.