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Proceedings Paper

Visual tracking of da Vinci instruments for laparoscopic surgery
Author(s): S. Speidel; E. Kuhn; S. Bodenstedt; S. Röhl; H. Kenngott; B. Müller-Stich; R. Dillmann
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Paper Abstract

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.

Paper Details

Date Published: 12 March 2014
PDF: 6 pages
Proc. SPIE 9036, Medical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling, 903608 (12 March 2014); doi: 10.1117/12.2042483
Show Author Affiliations
S. Speidel, Karlsruhe Institute of Technology (Germany)
E. Kuhn, Karlsruhe Institute of Technology (Germany)
S. Bodenstedt, Karlsruhe Institute of Technology (Germany)
S. Röhl, Karlsruhe Institute of Technology (Germany)
H. Kenngott, Univ. of Heidelberg (Germany)
B. Müller-Stich, Univ. of Heidelberg (Germany)
R. Dillmann, Karlsruhe Institute of Technology (Germany)

Published in SPIE Proceedings Vol. 9036:
Medical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling
Ziv R. Yaniv; David R. Holmes, Editor(s)

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