ICRA 2012 Paper Abstract


Paper WeC05.3

Baek, Young Min (The University of Tokyo), Tanaka, Shinichi (The University of Tokyo), Harada, Kanako (The University of Tokyo), Sugita, Naohiko (The University of Tokyo), Morita, Akio (Kanto Medical Center NTT EC), Sora, Shigeo (Tokyo Metropolitan Police Hospital), Mochizuki, Ryo (NHK Engineering Service Inc.), Mitsuishi, Mamoru (The University of Tokyo)

Full state visual forceps tracking under a microscope using projective contour models

Scheduled for presentation during the Regular Session "Image-Guided Interventions" (WeC05), Wednesday, May 16, 2012, 15:00−15:15, Meeting Room 5 (Ska)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 20, 2018

Keywords Medical Robots and Systems, Visual Tracking, Computer Vision for Robotics and Automation


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.



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