Zhan, B;
Zhao, W;
Fang, Y;
Du, B;
Vasconcelos, F;
Stoyanov, D;
Elson, DS;
(2025)
Tracking Everything in Robotic-Assisted Surgery.
In:
2025 IEEE International Conference on Robotics and Automation (ICRA).
(pp. pp. 6809-6815).
IEEE: Atlanta, GA, USA.
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Abstract
Accurate tracking of tissues and instruments in videos is crucial for Robotic-Assisted Minimally Invasive Surgery (RAMIS), as it enables the robot to comprehend the surgical scene with precise locations and interactions of tissues and tools. Traditional keypoint-based sparse tracking is limited by featured points, while flow-based dense two-view matching suffers from long-term drifts. Recently, the Tracking Any Point (TAP) algorithm was proposed to overcome these limitations and achieve dense accurate long-term tracking. However, its efficacy in surgical scenarios remains untested, largely due to the lack of a comprehensive surgical tracking dataset for evaluation. To address this gap, we introduce a new annotated surgical tracking dataset for benchmarking tracking methods for surgical scenarios, comprising real-world surgical videos with complex tissue and instrument motions. We extensively evaluate state-of-the-art (SOTA) TAP-based algorithms on this dataset and reveal their limitations in challenging surgical scenarios, including fast instrument motion, severe occlusions, and motion blur, etc. Furthermore, we propose a new tracking method, namely SurgMotion, to solve the challenges and further improve the tracking performance. Our proposed method outperforms most TAP-based algorithms in surgical instruments tracking, and especially demonstrates significant improvements over baselines in challenging medical videos. Our code and dataset are available at https://github.com/zhanbh1019/SurgicalMotion.
| Type: | Proceedings paper |
|---|---|
| Title: | Tracking Everything in Robotic-Assisted Surgery |
| Event: | 2025 IEEE International Conference on Robotics and Automation (ICRA) |
| Dates: | 19 May 2025 - 23 May 2025 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/ICRA55743.2025.11128141 |
| Publisher version: | https://doi.org/10.1109/icra55743.2025.11128141 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Surgical instruments, Accuracy, Minimally invasive surgery, Codes, Tracking, Instruments, Benchmark testing, Robots, Videos |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10216200 |
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