In laparoscopic surgery, energized dissecting devices and laser ablation causes smoke,
which degrades the visual quality of the operative field. This paper proposes an …

Navigation in endoscopic environments requires an accurate and robust localisation system.
A key challenge in such environments is the paucity of visual features that hinders accurate …

This thesis investigates how to maximise spatial information from surgical camera images for
robotic navigation. Image enhancement and depth estimation techniques are extended to …