TY - CHAP
T1 - Laparoscopic tool tracking method for augmented reality surgical applications
AU - Cano, Alicia M.
AU - Gayá, Francisco
AU - Lamata de la Orden, Pablo
AU - Sánchez-González, Patricia
AU - Gómez, Enrique J.
PY - 2008
Y1 - 2008
N2 - Vision-based tracking of laparoscopic tools offers new possibilities for improving surgical training and for developing new augmented reality surgical applications. We present an original method to determine not only the tip position, but also the orientation of a laparoscopic tool respect to the camera coordinate frame. A simple mathematical formulation shows how segmented tool edges and camera field of view define the tool 3D orientation. Then, 3D position of the tool tip is determined by image 2D coordinates of any known point of the tool and by tool's diameter. Accuracy is evaluated in real image sequences with known ground truth. Results show a positioning error of 9,28 mmRMS, what is explained by inaccuracies in the estimation of tool edges. The main advantage of proposed method is its robustness to occlusions of the tool tip.
AB - Vision-based tracking of laparoscopic tools offers new possibilities for improving surgical training and for developing new augmented reality surgical applications. We present an original method to determine not only the tip position, but also the orientation of a laparoscopic tool respect to the camera coordinate frame. A simple mathematical formulation shows how segmented tool edges and camera field of view define the tool 3D orientation. Then, 3D position of the tool tip is determined by image 2D coordinates of any known point of the tool and by tool's diameter. Accuracy is evaluated in real image sequences with known ground truth. Results show a positioning error of 9,28 mmRMS, what is explained by inaccuracies in the estimation of tool edges. The main advantage of proposed method is its robustness to occlusions of the tool tip.
KW - Augmented reality tools
KW - Laparoscopic tool tracking
KW - Surgical training programs
KW - Video-endoscopic analysis
UR - http://www.scopus.com/inward/record.url?scp=49049118687&partnerID=8YFLogxK
U2 - 10.1007/978-3-540-70521-5_21
DO - 10.1007/978-3-540-70521-5_21
M3 - Conference paper
AN - SCOPUS:49049118687
SN - 3540705201
SN - 9783540705208
VL - 5104 LNCS
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 191
EP - 196
BT - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
T2 - 4th International Symposium on Biomedical Simulation, ISBMS 2008
Y2 - 7 July 2008 through 8 July 2008
ER -