Imperial College London
Alternate

Professor Daniel Elson

Faculty of Medicine, Department of Surgery & Cancer

Professor of Surgical Imaging
 
 
 
//

Contact

 

+44 (0)20 7594 1700daniel.elson Website CV

 
 
//

Location

 

415 Bessemer BuildingBessemer BuildingSouth Kensington Campus

//

Summary

 

Publications

Citation

BibTex format

@article{Cartucho:2021:10.1080/21681163.2021.1997647,
author = {Cartucho, J and Wang, C and Huang, B and Elson, DS and Darzi, A and Giannarou, S},
doi = {10.1080/21681163.2021.1997647},
journal = {Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization},
pages = {1--9},
title = {An enhanced marker pattern that achieves improved accuracy in surgical tool tracking},
url = {http://dx.doi.org/10.1080/21681163.2021.1997647},
volume = {10},
year = {2021}
}
Download

RIS format (EndNote, RefMan)

TY  - JOUR
AB  - In computer assisted interventions (CAI), surgical tool tracking is crucial for applications such as surgical navigation, surgical skill assessment, visual servoing, and augmented reality. Tracking of cylindrical surgical tools can be achieved by printing and attaching a marker to their shaft. However, the tracking error of existing cylindrical markers is still in the millimetre range, which is too large for applications such as neurosurgery requiring sub-millimetre accuracy. To achieve tool tracking with sub-millimetre accuracy, we designed an enhanced marker pattern, which is captured on images from a monocular laparoscopic camera. The images are used as input for a tracking method which is described in this paper. Our tracking method was compared to the state-of-the-art, on simulation and ex vivo experiments. This comparison shows that our method outperforms the current state-of-the-art. Our marker achieves a mean absolute error of 0.28 [mm] and 0.45 [°] on ex vivo data, and 0.47 [mm] and 1.46 [°] on simulation. Our tracking method is real-time and runs at 55 frames per second for 720×576 image resolution.
AU  - Cartucho,J
AU  - Wang,C
AU  - Huang,B
AU  - Elson,DS
AU  - Darzi,A
AU  - Giannarou,S
DO  - 10.1080/21681163.2021.1997647
EP  - 9
PY  - 2021///
SN  - 2168-1163
SP  - 1
TI  - An enhanced marker pattern that achieves improved accuracy in surgical tool tracking
T2  - Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization
UR  - http://dx.doi.org/10.1080/21681163.2021.1997647
UR  - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000716888200001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR  - https://www.tandfonline.com/doi/full/10.1080/21681163.2021.1997647?scroll=top&needAccess=true
UR  - http://hdl.handle.net/10044/1/93275
VL  - 10
ER  -
Download