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.


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    Title :

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


    Contributors:
    Du, X (author) / Allan, M (author) / Dore, A (author) / Ourselin, S (author) / Hawkes, D (author) / Kelly, JD (author) / Stoyanov, D (author)

    Publication date :

    2016-06-01


    Remarks:

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


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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