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An enhanced marker pattern that achieves improved accuracy in surgical tool tracking

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Title: An enhanced marker pattern that achieves improved accuracy in surgical tool tracking
Authors: Cartucho, J
Wang, C
Huang, B
Elson, DS
Darzi, A
Giannarou, S
Item Type: Journal Article
Abstract: In computer assisted interventions (CAI), surgical tool tracking is crucial for applications such as surgical navigation, surgical skill assessment, visual servoing, and augmented reality. Tracking of cylindrical surgical tools can be achieved by printing and attaching a marker to their shaft. However, the tracking error of existing cylindrical markers is still in the millimetre range, which is too large for applications such as neurosurgery requiring sub-millimetre accuracy. To achieve tool tracking with sub-millimetre accuracy, we designed an enhanced marker pattern, which is captured on images from a monocular laparoscopic camera. The images are used as input for a tracking method which is described in this paper. Our tracking method was compared to the state-of-the-art, on simulation and ex vivo experiments. This comparison shows that our method outperforms the current state-of-the-art. Our marker achieves a mean absolute error of 0.28 [mm] and 0.45 [°] on ex vivo data, and 0.47 [mm] and 1.46 [°] on simulation. Our tracking method is real-time and runs at 55 frames per second for 720×576 image resolution.
Issue Date: 12-Nov-2021
Date of Acceptance: 20-Oct-2021
URI: http://hdl.handle.net/10044/1/93275
DOI: 10.1080/21681163.2021.1997647
ISSN: 2168-1163
Publisher: Taylor and Francis
Start Page: 1
End Page: 9
Journal / Book Title: Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization
Volume: 10
Issue: 4
Copyright Statement: © 2021 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group. This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Sponsor/Funder: Imperial College Healthcare NHS Trust- BRC Funding
Cancer Research UK
National Institute of Health Research
Funder's Grant Number: RDB04
25147
Keywords: Science & Technology
Technology
Engineering, Biomedical
Engineering
Surgical tool tracking
pose estimation
cylindrical marker
POSE ESTIMATION
Science & Technology
Technology
Engineering, Biomedical
Engineering
Surgical tool tracking
pose estimation
cylindrical marker
POSE ESTIMATION
Publication Status: Published
Open Access location: https://www.tandfonline.com/doi/full/10.1080/21681163.2021.1997647
Online Publication Date: 2021-11-10
Appears in Collections:Department of Surgery and Cancer
Faculty of Medicine
Institute of Global Health Innovation



This item is licensed under a Creative Commons License Creative Commons