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Computer-Assisted and Robotic Endoscopy

CARE 2015: Computer-Assisted and Robotic Endoscopy pp 90–100Cite as

2D/3D Real-Time Tracking of Surgical Instruments Based on Endoscopic Image Processing

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Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 9515))

Abstract

This paper describes a simple and robust algorithm which permits to track surgical instruments without artificial markers in endoscopic images. Based on image processing, this algorithm can estimate the 2D/3D pose of all the instruments visible in the image, in real-time (30 Hz). The originality of the approach is based on the use of a Frangi filter for detecting edges and the tip of instruments. The accuracy of the instruments’ location in the image is evaluated using an extensive dataset (1500 images, 3 laparoscopic surgeries). Pose estimation of instruments in space is quantitatively evaluated on a test bench through comparison with the ground truth positioning provided by a calibrated robotic instrument holder. This method opens perspectives in the real-time control of surgical robots and the intra-operative recognition of surgical gestures.

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Author information

Authors and Affiliations

  1. UJF-Grenoble 1, CNRS, TIMC-IMAG UMR 5525, Grenoble, 38401, France

    Anthony Agustinos

  2. UJF-Grenoble 1, INSERM, TIMC-IMAG UMR 5525, Grenoble, 38401, France

    Sandrine Voros

Authors
  1. Anthony Agustinos
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  2. Sandrine Voros
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Corresponding author

Correspondence to Anthony Agustinos .

Editor information

Editors and Affiliations

  1. Xiamen University, Fujian, China

    Xiongbiao Luo

  2. KUKA Robotics, Augsburg, Germany

    Tobias Reichl

  3. Johns Hopkins University, Baltimore, Maryland, USA

    Austin Reiter

  4. University of Texas at Arlington, Arlington, Texas, USA

    Gian-Luca Mariottini

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© 2016 Springer International Publishing Switzerland

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Agustinos, A., Voros, S. (2016). 2D/3D Real-Time Tracking of Surgical Instruments Based on Endoscopic Image Processing. In: Luo, X., Reichl, T., Reiter, A., Mariottini, GL. (eds) Computer-Assisted and Robotic Endoscopy. CARE 2015. Lecture Notes in Computer Science(), vol 9515. Springer, Cham. https://doi.org/10.1007/978-3-319-29965-5_9

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  • DOI: https://doi.org/10.1007/978-3-319-29965-5_9

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29964-8

  • Online ISBN: 978-3-319-29965-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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