Tracking multiple surgical instruments in a near-infrared optical system

Abstract

Surgical navigation systems can assist doctors in performing more precise and more efficient surgical procedures to avoid various accidents. The near-infrared optical system (NOS) is an important component of surgical navigation systems. However, several surgical instruments are used during surgery, and effectively tracking all of them is challenging. A stereo matching algorithm using two intersecting lines and surgical instrument codes is proposed in this paper. In our NOS, the markers on the surgical instruments can be captured by two near-infrared cameras. After automatically searching and extracting their subpixel coordinates in the left and right images, the coordinates of the real and pseudo markers are determined by the two intersecting lines. Finally, the pseudo markers are removed to achieve accurate stereo matching by summing the codes for the distances between a specific marker with the other two markers on the surgical instrument. Experimental results show that the markers on the different surgical instruments can be automatically and accurately recognized. The NOS can accurately track multiple surgical instruments.

Robust Real-Time Detection of Laparoscopic Instruments in Robot Surgery Using Convolutional Neural Networks with Motion Vector Prediction

“…Various approaches have been published on surgical tool detection. Cai et al [11] imaged markers, which were placed on surgical instruments with the use of two infrared cameras. Kranzfelder et al [12] presented an approach based on radiofrequency identification (RFID) for real-time tracking of Kranzfelder et al [12] presented an approach based on radiofrequency identification (RFID) for realtime tracking of laparoscopic instruments.…”

Intraoperative bone registration: An implementation in orthopaedic surgery using polaris vicra system

“…Its applicability in operating rooms has suffered an increase with the growth of the assisted surgeries by robotic systems. It has been an important equipment to track the surgical instruments in the surgical room [2]. This kind of equipment is a powerful resource to perform the registration procedure, which involves the acquisition of anatomical landmarks, to be possible the tool navigation in real-time [6].…”

“…It needs a display device connected with the software to show the virtual scene with the surgical instruments and the anatomical model of the patient. CAS requires the data treatment from the magnetic resonance imaging (MRI) or computed tomography (CT) exams, such as three-dimensional reconstruction or image segmentation, so that it is possible to have a 3D model of the desired anatomical structure to be displayed during the preoperative plan and also during the intraoperative situation [2].…”