Abstract: The invention relates to a method for registration of a virtual three-dimensional model of a target organ, called 3D model, with at least one image of said target organ in a scene obtained by an endoscope (12), comprising in particular a step of predicting a position and orientation of the target organ with respect to the scene, a step of superimposing, on at least one current image from the endoscope, a projection with semi-transparency of the 3D model based on the predicted position and orientation, on a display device (18), a step of receiving a command indicating an alignment between the projection with semi-transparency of the 3D model and the image of the target organ on the current image and a step of calculating the position and orientation of the target organ on the current image with respect to the scene.

Abstract: The invention relates to a method for processing images acquired by an endoscope (12), for the automatic estimation of the position of at least one trocar (58) which is disposed on a wall (56) of the body of a patient, each trocar (58) being configured to permit the passage of an instrument (54) therethrough in order to access a cavity (50) in the body of the patient, characterized in that it comprises a step of acquiring images of the abdominal cavity (50) of the patient using the endoscope (12), each of the images showing at least one instrument (54) passing through each trocar (58), a step of determining, from the images, the position and orientation of the instrument (54) with respect to the position of the endoscope (12), a step of estimating, from the images, the position of each trocar (58) from at least two positions and orientations of the instrument (54).

Abstract: The invention relates to a method for processing images acquired by an endoscope (12), for the automatic estimation of the position of at least one trocar (58) which is disposed on a wall (56) of the body of a patient, each trocar (58) being configured to permit the passage of an instrument (54) therethrough in order to access a cavity (50) in the body of the patient, characterized in that it comprises a step of acquiring images of the abdominal cavity (50) of the patient using the endoscope (12), each of the images showing at least one instrument (54) passing through each trocar (58), a step of determining, from the images, the position and orientation of the instrument (54) with respect to the position of the endoscope (12), a step of estimating, from the images, the position of each trocar (58) from at least two positions and orientations of the instrument (54).