PURPOSE: Computer-assisted interventions for enhanced minimally invasive surgery (MIS) require tracking of the surgical instruments. Instrument tracking is a challenging problem in both conventional and robotic-assisted MIS, but vision-based approaches are a promising solution with minimal hardware integration requirements. However, vision-based methods suffer from drift, and in the case of occlusions, shadows and fast motion, they can be subject to complete tracking failure. METHODS: In this paper, we develop a 2D tracker based on a Generalized Hough Transform using SIFT features which can both handle complex environmental changes and recover from tracking failure. We use this to initialize a 3D tracker at each frame which enables us to recover 3D instrument pose over long sequences and even during occlusions. RESULTS: We quantitatively validate our method in 2D and 3D with ex vivo data collected from a DVRK controller as well as providing qualitative validation on robotic-assisted in vivo data. CONCLUSIONS: We demonstrate from our extended sequences that our method provides drift-free robust and accurate tracking. Our occlusion-based sequences additionally demonstrate that our method can recover from occlusion-based failure. In both cases, we show an improvement over using 3D tracking alone suggesting that combining 2D and 3D tracking is a promising solution to challenges in surgical instrument tracking.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Combined 2D and 3D tracking of surgical instruments for minimally invasive and robotic-assisted surgery


    Beteiligte:
    Du, X (Autor:in) / Allan, M (Autor:in) / Dore, A (Autor:in) / Ourselin, S (Autor:in) / Hawkes, D (Autor:in) / Kelly, JD (Autor:in) / Stoyanov, D (Autor:in)

    Erscheinungsdatum :

    2016-06-01


    Anmerkungen:

    International Journal of Computer Assisted Radiology and Surgery , 11 (6) pp. 1109-1119. (2016)


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    3D Pose Estimation of Articulated Instruments in Robotic Minimally Invasive Surgery

    Allan, M / Ourselin, S / Hawkes, DJ et al. | BASE | 2018

    Freier Zugriff

    Robot-Assisted Minimally Invasive Surgery-Surgical Robotics in the Data Age

    Haidegger, Tamas / Speidel, Stefanie / Stoyanov, Danail et al. | BASE | 2022

    Freier Zugriff

    Hand-eye calibration for robotic assisted minimally invasive surgery without a calibration object

    Pachtrachai, K / Allan, M / Pawar, V et al. | BASE | 2016

    Freier Zugriff


    Minimally invasive surgery

    Online Contents | 1994