3D tracking of laparoscopic instruments using statistical and geometric modeling

Authors:
Rémi Wolf;Josselin Duchateau;Philippe Cinquin;Sandrine Voros
Affiliations:
UJF-Grenoble 1, CNRS, TIMC-IMAG UMR 5525, Grenoble, France;UJF-Grenoble 1, CNRS, TIMC-IMAG UMR 5525, Grenoble, France;UJF-Grenoble 1, CNRS, TIMC-IMAG UMR 5525, Grenoble, France;UJF-Grenoble 1, CNRS, INSERM, TIMC-IMAG UMR 5525, Grenoble, France
Venue:
MICCAI'11 Proceedings of the 14th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Year:
2011

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Abstract

During a laparoscopic surgery, the endoscope can be manipulated by an assistant or a robot. Several teams have worked on the tracking of surgical instruments, based on methods ranging from the development of specific devices to image processing methods. We propose to exploit the instruments' insertion points, which are fixed on the patients abdominal cavity, as a geometric constraint for the localization of the instruments. A simple geometric model of a laparoscopic instrument is described, as well as a parametrization that exploits a spherical geometric grid, which offers attracting homogeneity and isotropy properties. The general architecture of our proposed approach is based on the probabilistic Condensation algorithm.