Abstract
In retinal surgery, surgeons face difficulties such as indirect visualization of surgical targets, physiological tremor and lack of tactile feedback. Such difficulties increase the risks of incorrect surgical gestures which may cause retinal damage. In this context, robotic assistance has the potential to overcome current technical limitations and increase surgical safety. In this paper we present a method for robustly tracking surgical tools in retinal surgery for detecting proximity between surgical tools and the retinal surface. An image similarity function based on weighted mutual information is specially tailored for tracking under critical illumination variations, lens distortions, and rapid motion. The proposed method was tested on challenging conditions using a phantom eye and recorded human in vivo data acquired by an ophthalmic stereo microscope.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Sun, Z., Balicki, M., Kang, J., Handa, J., Gehlbach, P., Taylor, R., Iordachita, I.: A sub-millimetric, 0.25 mn resolution fully integrated fiber-optic force sensing tool for retinal microsurgery. In: Proceedings of the International Congress on Computer Assisted Radiology and Surgery (CARS 2009), Berlin, Germany, pp. 383–390 (2009)
Balicki, M., Han, J.-H., Iordachita, I., Gehlbach, P., Handa, J., Taylor, R., Kang, J.: Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery. In: Yang, G.-Z., Hawkes, D., Rueckert, D., Noble, A., Taylor, C. (eds.) MICCAI 2009. LNCS, vol. 5761, pp. 108–115. Springer, Heidelberg (2009)
Groeger, M., Arbter, K., Hizinger, G.: Motion tracking for minimally invasive robotic surgery, pp. 117–148. I-Tech Education and Publishing (January 2008)
Wei, G.Q., Arbter, K., Hizinger, G.: Real-time visual servoing for laparoscopic surgery. In: Proceedings of IEEE International Conference of the Engineering in Medicine and Biology Society (EMBS 1997), Chicago, USA, pp. 40–45 (1997)
Tonet, O., Thoranaghatte, R., Megali, G., Dario, P.: Tracking endoscopic instruments without a localizer: a shape-analysis-based approach. Computer Aided Surgery 12(1), 35–42 (2007)
Doignon, C., Nagoette, F., de Mathelin, M.: Segmentation and guidance of multiple rigid objects for intra-operative endoscopic vision. In: Proceedings of the International Workshop on Dynamical Vision, in conjunction with ECCV 2006, Graz, Austria (2006)
Voros, S., Orvain, E., Long, J.-A., Cinquin, P.: Automatic detection of instruments in laparoscopic images: a first step towards high level command of robotized endoscopic holders. The International Journal of Robotics Research (IJRR) – Special Issue on Robot Vision 26(11-12), 119–173 (2007)
Pezzementi, Z., Voros, S., Hager, G.: Articulated object tracking by rendering consistent appearance parts. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2009), Kobe, Japan, pp. 3940–3947 (May 2009)
Baker, S., Matthews, I.: Lucas-kanade 20 years on: A unifying framework: Part 1. Technical report, Robotics Institute, Carnegie Mellon University, Pittsburgh, USA (July 2002)
Hager, G., Dewan, M., Stewart, C.: Multiple kernel tracking with ssd. In: Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2004), Washington, USA, pp. 790–797 (2004)
Dame, A., Marchand, E.: Accurate real-time tracking using mutual information. In: Proceedings of the IEEE Int. Symp. on Mixed and Augmented Reality (ISMAR 2010), Taipei, Taiwan, pp. 47–56 (October 2010)
Pluim, J., Maintz, J.A., Viergever, M.: Mutual information based registration of medical images: a survey. Proceedings of IEEE Transactions on Medical Imaging 22(8), 986–1004 (2003)
Ramey, N.A., Corso, J.J., Lau, W.W., Burschka, D., Hager, G.D.: Real-time 3D Surface Tracking and Its Applications. In: Proceedings of IEEE Conference on Computer Vision and Pattern Recognition Workshop (CVPRW 2004), Washington, USA, pp. 33–34 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Richa, R., Balicki, M., Meisner, E., Sznitman, R., Taylor, R., Hager, G. (2011). Visual Tracking of Surgical Tools for Proximity Detection in Retinal Surgery. In: Taylor, R.H., Yang, GZ. (eds) Information Processing in Computer-Assisted Interventions. IPCAI 2011. Lecture Notes in Computer Science, vol 6689. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21504-9_6
Download citation
DOI: https://doi.org/10.1007/978-3-642-21504-9_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-21503-2
Online ISBN: 978-3-642-21504-9
eBook Packages: Computer ScienceComputer Science (R0)