Du, X;
Allan, M;
Dore, A;
Ourselin, S;
Hawkes, D;
Kelly, JD;
Stoyanov, D;
(2016)
Combined 2D and 3D tracking of surgical instruments for minimally invasive and robotic-assisted surgery.
International Journal of Computer Assisted Radiology and Surgery
, 11
(6)
pp. 1109-1119.
10.1007/s11548-016-1393-4.
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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 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.
| Type: | Article |
|---|---|
| Title: | Combined 2D and 3D tracking of surgical instruments for minimally invasive and robotic-assisted surgery |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1007/s11548-016-1393-4 |
| Publisher version: | http://dx.doi.org/10.1007/s11548-016-1393-4 |
| Language: | English |
| Additional information: | Copyright © The Author(s) 2016. This article is published with open access at Springerlink.com. This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (CC BY 4.0) (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. |
| Keywords: | Instrument tracking and detection, Minimally invasive surgery, Robot-assisted surgery, Surgical vision |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Targeted Intervention UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/1480794 |
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