Abstract
Vision-based tracking of laparoscopic tools offers new possibilities for improving surgical training and for developing new augmented reality surgical applications. We present an original method to determine not only the tip position, but also the orientation of a laparoscopic tool respect to the camera coordinate frame. A simple mathematical formulation shows how segmented tool edges and camera field of view define the tool 3D orientation. Then, 3D position of the tool tip is determined by image 2D coordinates of any known point of the tool and by tool’s diameter. Accuracy is evaluated in real image sequences with known ground truth. Results show a positioning error of 9,28 mmRMS, what is explained by inaccuracies in the estimation of tool edges. The main advantage of proposed method is its robustness to occlusions of the tool tip.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Fuchs, K.H.: Minimally Invasive Surgery. Endoscopy 34, 154–159 (2002)
Darzi, A., Smith, S., Taffinder, N.: Assessing operative skill: needs to become more objective. BMJ 316, 1917–1918 (1998)
Rosen, J., Brown, J.D., Chang, L., Sinanan, M.N., Hannaford, B.: Generalized Approach for Modeling Minimally Invasive Surgery as a Stochastic Process Using a Discrete Markov Model. IEEE Transactions on Biomedical Engineering 53(3), 399–413 (2006)
Aggarwal, R., Grantcharov, T., Moorthy, K., Milland, T., Papasavas, P., Dosis, A., Bello, F., Darzi, A.: An evaluation of the feasibility, validity and reliability of laparoscopic skills assessment in the operating room. Ann. Surg. 245(6), 992–999 (2007)
Blum, T., Sielhorst, T., Navab, N.: Advanced augmented reality feedback for teaching 3D tool manipulation. New Tech. frontiers in minimally invasive therapies, pp. 223-236 (2007)
Fuchs, K.H., Livingston, M.A., Raskar, R., D’nardo, C., Keller, K., State, A., Crawford, J.R., Rademacher, P., Drake, S.H., Meyer, A.A.: Augmented Reality Visualization for laparoscopic surgery. In: Wells, W.M., Colchester, A.C.F., Delp, S.L. (eds.) MICCAI 1998. LNCS, vol. 1496, pp. 934–943. Springer, Heidelberg (1998)
Immersion: Digiziting, www.immersion.com/digitizer/
Krupa, A., Gangloff, J., Doignon, C., de Mathelin, M., Morel, G., Leroy, J., Soler, L., Marescaux, J.: Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing. IEEE Trans. on Robo. and Auto. 19(5), 842–853 (2003)
Tonet, O., Armes, T.U., Magali, G., Dario, P.: Tracking Endoscopic Instruments Without Localizer: Image Analysis-Based Approach Stud. Health Tech. Inf. 119, 544–549 (2005)
Cano, A.M., Lamata, P., Gayá, F., del Pozo, F., Gómez, E.J.: New Methods for Video-Based Tracking of Laparoscopic Tools. In: Harders, M., Székely, G. (eds.) ISBMS 2006. LNCS, vol. 4072, pp. 142–149. Springer, Heidelberg (2006)
Voros, S., Orvain, E., Cinquin, P.: Automatic detection of instruments in laparoscopic images: a first step towards high level command of robotized endoscopic holders. In: BIOROB 2006 1st IEEE/RAS-EMBS Int. Conf. On Biomed. Rob. and Biomecha., Pisa (2006)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Cano, A.M., Gayá, F., Lamata, P., Sánchez-González, P., Gómez, E.J. (2008). Laparoscopic Tool Tracking Method for Augmented Reality Surgical Applications. In: Bello, F., Edwards, P.J.E. (eds) Biomedical Simulation. ISBMS 2008. Lecture Notes in Computer Science, vol 5104. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-70521-5_21
Download citation
DOI: https://doi.org/10.1007/978-3-540-70521-5_21
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-70520-8
Online ISBN: 978-3-540-70521-5
eBook Packages: Computer ScienceComputer Science (R0)