TY - GEN
T1 - Visual tracking of surgical tools for proximity detection in retinal surgery
AU - Richa, Rogério
AU - Balicki, Marcin
AU - Meisner, Eric
AU - Sznitman, Raphael
AU - Taylor, Russell
AU - Hager, Gregory
PY - 2011
Y1 - 2011
N2 - In retinal surgery, surgeons face difficulties such as indirect visualization of surgical targets, physiological tremor and lack of tactile feedback. Such difficulties increase the risks of incorrect surgical gestures which may cause retinal damage. In this context, robotic assistance has the potential to overcome current technical limitations and increase surgical safety. In this paper we present a method for robustly tracking surgical tools in retinal surgery for detecting proximity between surgical tools and the retinal surface. An image similarity function based on weighted mutual information is specially tailored for tracking under critical illumination variations, lens distortions, and rapid motion. The proposed method was tested on challenging conditions using a phantom eye and recorded human in vivo data acquired by an ophthalmic stereo microscope.
AB - In retinal surgery, surgeons face difficulties such as indirect visualization of surgical targets, physiological tremor and lack of tactile feedback. Such difficulties increase the risks of incorrect surgical gestures which may cause retinal damage. In this context, robotic assistance has the potential to overcome current technical limitations and increase surgical safety. In this paper we present a method for robustly tracking surgical tools in retinal surgery for detecting proximity between surgical tools and the retinal surface. An image similarity function based on weighted mutual information is specially tailored for tracking under critical illumination variations, lens distortions, and rapid motion. The proposed method was tested on challenging conditions using a phantom eye and recorded human in vivo data acquired by an ophthalmic stereo microscope.
KW - mutual information
KW - robotic assisted retinal surgery
KW - visual tracking
UR - http://www.scopus.com/inward/record.url?scp=79959625103&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79959625103&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-21504-9_6
DO - 10.1007/978-3-642-21504-9_6
M3 - Conference contribution
AN - SCOPUS:79959625103
SN - 9783642215032
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 55
EP - 66
BT - Information Processing in Computer-Assisted Interventions - Second International Conference, IPCAI 2011, Proceedings
T2 - 2nd International Conference on Information Processing in Computer-Assisted Interventions, IPCAI 2011
Y2 - 22 June 2011 through 22 June 2011
ER -