Real-time 3D Surface Tracking and Its Applications
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 3 - Volume 03
International Journal of Robotics Research
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Articulated object tracking by rendering consistent appearance parts
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Segmentation and guidance of multiple rigid objects for intra-operative endoscopic vision
WDV'05/WDV'06/ICCV'05/ECCV'06 Proceedings of the 2005/2006 international conference on Dynamical vision
Data-Driven visual tracking in retinal microsurgery
MICCAI'12 Proceedings of the 15th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part II
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In retinal surgery, surgeons face difficulties such as indirect visualization of surgical targets, physiological tremor and lack of tactile feedback. Such difficulties increase the risks of incorrect surgical gestures which may cause retinal damage. In this context, robotic assistance has the potential to overcome current technical limitations and increase surgical safety. In this paper we present a method for robustly tracking surgical tools in retinal surgery for detecting proximity between surgical tools and the retinal surface. An image similarity function based on weighted mutual information is specially tailored for tracking under critical illumination variations, lens distortions, and rapid motion. The proposed method was tested on challenging conditions using a phantom eye and recorded human in vivo data acquired by an ophthalmic stereo microscope.