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

Max Allan, Steve Thompson, Matthew J. Clarkson, Sébastien Ourselin, David J. Hawkes, John Kelly, Danail Stoyanov
2014 Lecture Notes in Computer Science  
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
more » ... ack 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.
doi:10.1007/978-3-319-07521-1_1 fatcat:ftnjciancrdvzodweky6iul7xy