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12 March 2014 Visual tracking of da Vinci instruments for laparoscopic surgery
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Intraoperative tracking of laparoscopic instruments is a prerequisite to realize further assistance functions. Since endoscopic images are always available, this sensor input can be used to localize the instruments without special devices or robot kinematics. In this paper, we present an image-based markerless 3D tracking of different da Vinci instruments in near real-time without an explicit model. The method is based on different visual cues to segment the instrument tip, calculates a tip point and uses a multiple object particle filter for tracking. The accuracy and robustness is evaluated with in vivo data.
© (2014) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
S. Speidel, E. Kuhn, S. Bodenstedt, S. Röhl, H. Kenngott, B. Müller-Stich, and R. Dillmann "Visual tracking of da Vinci instruments for laparoscopic surgery", Proc. SPIE 9036, Medical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling, 903608 (12 March 2014);

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