Data-driven visual tracking in retinal microsurgery

Med Image Comput Comput Assist Interv. 2012;15(Pt 2):568-75. doi: 10.1007/978-3-642-33418-4_70.

Abstract

In the context of retinal microsurgery, visual tracking of instruments is a key component of robotics assistance. The difficulty of the task and major reason why most existing strategies fail on in-vivo image sequences lies in the fact that complex and severe changes in instrument appearance are challenging to model. This paper introduces a novel approach, that is both data-driven and complementary to existing tracking techniques. In particular, we show how to learn and integrate an accurate detector with a simple gradient-based tracker within a robust pipeline which runs at framerate. In addition, we present a fully annotated dataset of retinal instruments in in-vivo surgeries, which we use to quantitatively validate our approach. We also demonstrate an application of our method in a laparascopy image sequence.

Publication types

  • Research Support, N.I.H., Extramural
  • Research Support, Non-U.S. Gov't

MeSH terms

  • Humans
  • Image Interpretation, Computer-Assisted / methods*
  • Microsurgery / methods*
  • Pattern Recognition, Automated / methods*
  • Photography / methods*
  • Reproducibility of Results
  • Retinoscopy / methods*
  • Sensitivity and Specificity
  • Surgery, Computer-Assisted / methods*
  • Video Recording / methods