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Publication Detail
Combined 2D and 3D tracking of surgical instruments for minimally invasive and robotic-assisted surgery
  • Publication Type:
    Journal article
  • Publication Sub Type:
    Journal Article
  • Authors:
    Du X, Allan M, Dore A, Ourselin S, Hawkes D, Kelly JD, Stoyanov D
  • Publication date:
  • Pagination:
    1109, 1119
  • Journal:
    International Journal of Computer Assisted Radiology and Surgery
  • Volume:
  • Issue:
  • Status:
  • Print ISSN:
© 2016, The Author(s).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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