Surgical tool detection and tracking in retinal microsurgery

Alsheakhali M, Yigitsoy M, Eslami A, Navab N (2015)

Publication Type: Conference contribution

Publication year: 2015

Journal

Progress in Biomedical Optics and Imaging - Proceedings of SPIE

Publisher: SPIE

Book Volume: 9415

Conference Proceedings Title: Progress in Biomedical Optics and Imaging - Proceedings of SPIE

Event location: Orlando, FL, USA

ISBN: 9781628415056

DOI: 10.1117/12.2082335

Abstract

Visual tracking of surgical instruments is an essential part of eye surgery, and plays an important role for the surgeons as well as it is a key component of robotics assistance during the operation time. The difficulty of detecting and tracking medical instruments in-vivo images comes from its deformable shape, changes in brightness, and the presence of the instrument shadow. This paper introduces a new approach to detect the tip of surgical tool and its width regardless of its head shape and the presence of the shadows or vessels. The approach relies on integrating structural information about the strong edges from the RGB color model, and the tool location-based information from L^∗a^∗b color model. The probabilistic Hough transform was applied to get the strongest straight lines in the RGB-images, and based on information from the L^∗ and a^∗, one of these candidates lines is selected as the edge of the tool shaft. Based on that line, the tool slope, the tool centerline and the tool tip could be detected. The tracking is performed by keeping track of the last detected tool tip and the tool slope, and filtering the Hough lines within a box around the last detected tool tip based on the slope differences. Experimental results demonstrate the high accuracy achieved in term of detecting the tool tip position, the tool joint point position, and the tool centerline. The approach also meets the real time requirements.

Involved external institutions

Technische Universität München (TUM)

Germany (DE) Carl Zeiss Meditec AG

Germany (DE)

How to cite

APA:

Alsheakhali, M., Yigitsoy, M., Eslami, A., & Navab, N. (2015). Surgical tool detection and tracking in retinal microsurgery. In Robert J. Webster, Ziv R. Yaniv (Eds.), Progress in Biomedical Optics and Imaging - Proceedings of SPIE. Orlando, FL, USA: SPIE.

MLA:

Alsheakhali, Mohamed, et al. "Surgical tool detection and tracking in retinal microsurgery." Proceedings of the Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling, Orlando, FL, USA Ed. Robert J. Webster, Ziv R. Yaniv, SPIE, 2015.

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