Paper Info
Title
Full State Visual Forceps Tracking Under A Microscope Using Projective Contour Models
Abstract
Forceps tracking is an important element of high-level surgical assistance such as visual servoing and surgical motion analysis. In many computer vision algorithms, artificial markers are used to enable robust tracking; however, markerless tracking methods are more appropriate in surgical applications due to their sterilizability. This paper describes a robust, efficient tracking algorithm capable of estimating the full state parameters of a robotic surgical instrument on the basis of projective contour modeling using a 3-D CAD model of the forceps. Thus, the proposed method does not require any artificial markers. The likelihood of the contour model was measured using edge distance transformation to evaluate the similarity of the projected CAD model to the microscopic image, followed by particle filtering to estimate the full state of the forceps. Experimental results in simulated surgical environments indicate that the proposed method is robust and time-efficient, and fulfills real-time processing requirements.
Year
DOI
Venue
2012
10.1109/ICRA.2012.6224848
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Keywords
Field
DocType
microscopes,microscope,tracking,particle filtering,cad,solid modeling,distance transform,surgery,microscopy,computer vision,visual servoing,edge detection,robots,particle filter,real time processing
CAD,Computer vision,Computer science,Forceps,Particle filter,Surgical instrument,Visual servoing,Solid modeling,Artificial intelligence,Motion analysis,Robot
Conference
Volume
Issue
ISSN
2012
1
1050-4729
Citations 
PageRank 
References 
3
0.43
10
Authors
8
Name
Order
Citations
PageRank
Young Min Baek111210.06
Shinichi Tanaka230.43
Kanako Harada36016.32
Naohiko Sugita46319.50
Akio Morita511112.91
Shigeo Sora6102.71
Ryo Mochizuki7184.49
Mamoru Mitsuishi829882.65