18 March 2015 Image-based tracking of the suturing needle during laparoscopic interventions
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One of the most complex and difficult tasks for surgeons during minimally invasive interventions is suturing. A prerequisite to assist the suturing process is the tracking of the needle. The endoscopic images provide a rich source of information which can be used for needle tracking. In this paper, we present an image-based method for markerless needle tracking. The method uses a color-based and geometry-based segmentation to detect the needle. Once an initial needle detection is obtained, a region of interest enclosing the extracted needle contour is passed on to a reduced segmentation. It is evaluated with in vivo images from da Vinci interventions.
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S. Speidel, S. Speidel, A. Kroehnert, A. Kroehnert, S. Bodenstedt, S. Bodenstedt, H. Kenngott, H. Kenngott, B. Müller-Stich, B. Müller-Stich, R. Dillmann, R. Dillmann, "Image-based tracking of the suturing needle during laparoscopic interventions", Proc. SPIE 9415, Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling, 94150B (18 March 2015); doi: 10.1117/12.2081920; https://doi.org/10.1117/12.2081920

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