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2D-3D Pose Tracking of Rigid Instruments in Minimally Invasive Surgery

Allan, M; Thompson, S; Clarkson, MJ; Ourselin, S; Hawkes, DJ; Kelly, J; Stoyanov, D; (2014) 2D-3D Pose Tracking of Rigid Instruments in Minimally Invasive Surgery. In: Proceedings of the International Conference on Information Processing in Computer-Assisted Interventions. (pp. pp. 1-10). Springer: Switzerland: Cham. Green open access

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Abstract

Instrument localization and tracking is an important challenge for advanced computer assisted techniques in minimally invasive surgery and image-based solutions to instrument localization can provide a non-invasive, low cost solution. In this study, we present a novel algorithm capable of recovering the 3D pose of laparoscopic surgical instruments combining constraints from a classification algorithm, multiple point features, stereo views (when available) and a linear motion model to robustly track the tool in surgical videos. We demonstrate the improved robustness and performance of our algorithm with optically tracked ground truth and additionally qualitatively demonstrate its performance on in vivo images. © 2014 Springer International Publishing Switzerland.

Type: Proceedings paper
Title: 2D-3D Pose Tracking of Rigid Instruments in Minimally Invasive Surgery
Event: IPCA 2014: International Conference on Information Processing in Computer-Assisted Interventions
ISBN-13: 9783319075204
Open access status: An open access version is available from UCL Discovery
DOI: 10.1007/978-3-319-07521-1-1
Publisher version: https://doi.org/10.1007/978-3-319-07521-1_1
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: Target Object, Minimally Invasive Surgery, Optical Tracking System, Camera Coordinate System, Rigid Instrument
UCL classification: UCL
UCL > Provost and Vice Provost Offices
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/1419840
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