Related papers: SurgTrack: CAD-Free 3D Tracking of Real-world Surg…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
Surgical navigation provides real-time guidance by estimating the pose of patient anatomy and surgical instruments to visualize relevant intraoperative information. In conventional systems, instruments are typically tracked using fiducial…
Surgical instrument tracking is an active research area that can provide surgeons feedback about the location of their tools relative to anatomy. Recent tracking methods are mainly divided into two parts: segmentation and object detection.…
This paper tackles instrument tracking and 3D visualization challenges in minimally invasive surgery (MIS), crucial for computer-assisted interventions. Conventional and robot-assisted MIS encounter issues with limited 2D camera projections…
State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…
Accurate tool tracking is essential for the success of computer-assisted intervention. Previous efforts often modeled tool trajectories rigidly, overlooking the dynamic nature of surgical procedures, especially tracking scenarios like…
Ultrasound technology enables safe, non-invasive imaging of dynamic tissue behavior, making it a valuable tool in medicine, biomechanics, and sports science. However, accurately tracking tissue motion in B-mode ultrasound remains…
Image-based navigation is widely considered the next frontier of minimally invasive surgery. It is believed that image-based navigation will increase the access to reproducible, safe, and high-precision surgery as it may then be performed…
Conventional computer-assisted orthopaedic navigation systems rely on the tracking of dedicated optical markers for patient poses, which makes the surgical workflow more invasive, tedious, and expensive. Visual tracking has recently been…
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…
Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…
The use of Augmented Reality (AR) devices for surgical guidance has gained increasing traction in the medical field. Traditional registration methods often rely on external fiducial markers to achieve high accuracy and real-time…
Augmented Reality (AR) surgical navigation systems are emerging as the next generation of intraoperative surgical guidance, promising to overcome limitations of traditional navigation systems. However, known issues with AR depth perception…
The introduction of image-guided surgical navigation (IGSN) has greatly benefited technically demanding surgical procedures by providing real-time support and guidance to the surgeon during surgery. To develop effective IGSN, a careful…
A major limitation of minimally invasive surgery is the difficulty in accurately locating the internal anatomical structures of the target organ due to the lack of tactile feedback and transparency. Augmented reality (AR) offers a promising…
LiDAR-based 3D single object tracking (3D SOT) is a critical task in robotics and autonomous systems. Existing methods typically follow frame-wise motion estimation or a sequence-based paradigm. However, the two-frame methods are efficient…
Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…
Intraoperative segmentation and tracking of minimally invasive instruments is a prerequisite for computer- and robotic-assisted surgery. Since additional hardware like tracking systems or the robot encoders are cumbersome and lack accuracy,…
Detection of surgical instruments plays a key role in ensuring patient safety in minimally invasive surgery. In this paper, we present a novel method for 2D vision-based recognition and pose estimation of surgical instruments that…
Tracking the 6D pose of objects in video sequences is important for robot manipulation. Most prior efforts, however, often assume that the target object's CAD model, at least at a category-level, is available for offline training or during…