Pose Estimation and Feature Tracking for Robot Assisted Surgery with Medical Imaging

  • Christophe Doignon
  • Florent Nageotte
  • Benjamin Maurin
  • Alexandre Krupa
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 8)

This chapter presents several 3-D pose estimation algorithms and visual servoingbased tracking with monocular vision systems such as endoscopes and CT scanners (see Fig. 6.1) developped in an attempt to improve the guidance accuracy. These are intended for the 3-D positioning and guidance of surgical instruments in the human body. The efficiency of most of model-based visual servoing approaches relies on correspondences between the position of tracked visual features in the current image and their 3-D attitude in the world space. If these correspondences contain errors then the servoing usually fails or converges towards a wrong position. Overcoming these errors is often achieved by improving the quality of tracking algorithms and features selection methods ([37, 20]). Following this purpose, the work integrates several issues where computational vision can play a role:

  1. 1.

    estimating the distance between the tip of a laparoscopic instrument and the targeted organ with projected collinear feature points

  2. 2.

    estimating the 3-D pose of an instrument using a multiple features tracking and a virtual visual servoing

  3. 3.

    positioning a cylindrical-shaped instrument

  4. 4.

    registering the instantaneous position of a robot using stereotaxy.


The chapter is organized as follows. In the next Section, the problem of the pose estimation of surgical instruments with markers is stated and solved for some degrees of freedom. In Section 3, we focus on the positioning of the symmetry axis of a cylindrical-shaped instrument. Applications of both Sections use endoscopic vision in laparoscopy. The stereotactic registration with a single view (2-D/3-D registration) is studied as a pose estimation problem in Section 4. Finally, a conclusion with some perspectives is drawn in Section 5.


Surgical Instrument Laparoscopic Instrument Visual Servoing Endoscopic Image Perspective Projection 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Science+Business Media, LLC 2008

Authors and Affiliations

  • Christophe Doignon
    • 1
  • Florent Nageotte
    • 1
  • Benjamin Maurin
    • 2
  • Alexandre Krupa
    • 3
  1. 1.Control, Vision and Robotics TeamUniversity of StrasbourgFrance
  2. 2.Cerebellum Automation CompanyFrance
  3. 3.IRISA/INRIA RennesCampus de BeaulieuFrance

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