3D tracking of laparoscopic instruments using statistical and geometric modeling

Rémi Wolf (1) , Josselin Duchateau (1) , Philippe Cinquin (1) , Sandrine Voros (1)

1 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur

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.

Mots clés: laparoscopic surgery; image-based localization of surgical instruments; Condensation algorithm

Domaines: Imagerie médicale; Robotique [cs.RO]

Rémi Wolf, Josselin Duchateau, Philippe Cinquin, Sandrine Voros. 3D tracking of laparoscopic instruments using statistical and geometric modeling. Medical Image Computing and Computer Assisted Intervention (MICCAI), Sep 2011, Toronto, Canada. pp.203-210, ⟨10.1007/978-3-642-23623-5_26⟩. ⟨hal-00726854⟩