A fast, low-cost, computer vision approach for tracking surgical tools

Rodney Dockter, Rob Sweet, Timothy M Kowalewski

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

Given the rise in surgeries performed with surgical robots and associated robotics research efforts, tool tracking methods have the potential to provide quantitative feedback concerning surgical performance and establish absolute tool tracking to help advance surgical robotics research. We have created a platform-agnostic method for low-cost tracking of surgical tool shafts in Cartesian space in near real time. We employ a joint Hough Transform - Geometric Constraint approach to locate the tool tips in the stereo camera channels independently. Cartesian coordinates are registered using a custom polynomial depth - disparity model. The algorithm was developed using a low-cost experimental webcam setup and evaluated using a da Vinci surgical endoscope. The algorithm was benchmarked for 3D tracking accuracy and computational speed. The system can locate the tool tip in 3D space with an average accuracy of 3.05 mm at 25.86 frames per second using the webcam setup. For the endoscope setup this algorithm has an average tracking accuracy of 8.68 mm in 3D and 1.88 mm in 2D with an average frame rate of 26.9 FPS. The algorithm also demonstrated successful tracking of tools using captured video from a real surgical procedure.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1984-1989
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

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