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

ABSTRACT:

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 se

SUBMITTER: Du X 

PROVIDER: S-EPMC4893384 | biostudies-literature | 2016 Jun

REPOSITORIES: biostudies-literature