title: 3D tracking of laparoscopic instruments using statistical and geometric modeling.
abstract: During a laparoscopic surgery, the endoscope can be manipulated by an assistant or a robot. Several teams have worked on the tracking of surgical instruments, based on methods ranging from the development of specific devices to image processing methods. We propose to exploit the instruments' insertion points, which are fixed on the patients abdominal cavity, as a geometric constraint for the localization of the instruments. A simple geometric model of a laparoscopic instrument is described, as well as a parametrization that exploits a spherical geometric grid, which offers attracting homogeneity and isotropy properties. The general architecture of our proposed approach is based on the probabilistic Condensation algorithm.
authors: UJF-Grenoble 1, CNRS, TIMC-IMAG UMR 5525, Grenoble F-38041, France.
authors: Rémi
authors: R
authors: Wolf
authors: Josselin
authors: J
authors: Duchateau
authors: Philippe
authors: P
authors: Cinquin
authors: Sandrine
authors: S
authors: Voros
mesh_terms: D000005:Abdomen / Q000601:surgery; D000465:Algorithms; D002138:Calibration; D003198:Computer Simulation; D006801:Humans; D007091:Image Processing, Computer-Assisted / Q000379:methods*; D021621:Imaging, Three-Dimensional / Q000379:methods*; D010535:Laparoscopy / Q000295:instrumentation* / Q000379:methods; D015233:Models, Statistical; D008962:Models, Theoretical; D012371:Robotics; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods