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A Three-Step Approach to Track the Position and the Orientation of a Surgical Instrument in X-ray Images

Kügler, David and Sakas, Georgios (2016):
A Three-Step Approach to Track the Position and the Orientation of a Surgical Instrument in X-ray Images.
In: Curac 2016, [Conference or Workshop Item]

Abstract

In bone surgery, minimally invasive approaches are currently limited to interventions along straight access paths. In the MUKNO research project (multiport bone surgery for the otobasis) we develop a hybrid image- and electromagnetic- guided navigation system to provide 6 DoF measurements (position and orientation) for a robotic system drilling curved paths. In this paper we propose a novel approach for tracking metallic surgical instruments in x-ray images for navigation of this robot. We track the robot in three steps: initialization with a weighted radon transformation, convolution with specifically designed mask and linear regression on the convolution result. First experiments for artificially generated and manually segmented images show sub-pixel and sub-degree image-coordinate and orientation errors.

Item Type: Conference or Workshop Item
Erschienen: 2016
Creators: Kügler, David and Sakas, Georgios
Title: A Three-Step Approach to Track the Position and the Orientation of a Surgical Instrument in X-ray Images
Language: English
Abstract:

In bone surgery, minimally invasive approaches are currently limited to interventions along straight access paths. In the MUKNO research project (multiport bone surgery for the otobasis) we develop a hybrid image- and electromagnetic- guided navigation system to provide 6 DoF measurements (position and orientation) for a robotic system drilling curved paths. In this paper we propose a novel approach for tracking metallic surgical instruments in x-ray images for navigation of this robot. We track the robot in three steps: initialization with a weighted radon transformation, convolution with specifically designed mask and linear regression on the convolution result. First experiments for artificially generated and manually segmented images show sub-pixel and sub-degree image-coordinate and orientation errors.

Uncontrolled Keywords: Forschungsgruppe Medical Computing (MECO), Minimally invasive surgery, Image guided therapy, Navigation
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Mathematical and Applied Visual Computing
Event Title: Curac 2016
Date Deposited: 08 May 2019 06:26
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