Augmented Reality Visualization for Laparoscopic Surgery
MICCAI '98 Proceedings of the First International Conference on Medical Image Computing and Computer-Assisted Intervention
New methods for video-based tracking of laparoscopic tools
ISBMS'06 Proceedings of the Third international conference on Biomedical Simulation
Transactions on computational science XIII
3D tracking of laparoscopic instruments using statistical and geometric modeling
MICCAI'11 Proceedings of the 14th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Particle filtering in the Hough space for instrument tracking
Computers in Biology and Medicine
A polynomial model of surgical gestures for real-time retrieval of surgery videos
MCBR-CDS'12 Proceedings of the Third MICCAI international conference on Medical Content-Based Retrieval for Clinical Decision Support
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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.