Vision-Guided Tracking of Multiple Surgical Instruments in Robot-Assisted Surgery

¹Interdisciplinary Program, Bioengineering Major, Graduate School, Seoul National University, Seoul, Korea, ²Brain Korea 21 Program for Biomedical Science, College of Medicine, Korea Artificial Organ Center, Korea University, Seoul 136-705, Korea, ³Department of Biomedical Engineering, College of Medicine and Institute of Medical and Biological Engineering, Medical Research Center, Seoul National University, Seoul, Korea