Bouarfa Loubna, Akman Oytun, Schneider Armin, Jonker Pieter P, Dankelman Jenny
Department of Biomechanical Engineering, Delft University of Technology, Delft, The Netherlands.
Minim Invasive Ther Allied Technol. 2012 May;21(3):129-34. doi: 10.3109/13645706.2011.580764. Epub 2011 May 16.
Tracking instruments during surgery is becoming a useful acquisition tool for different applications. This article presents a tracking system to detect and track instruments in endoscopic video using biocompatible colour markers. The system tracks single or multiple instruments in the video. The originality of this method is that it combines continuously adaptive shift algorithm with Kalman-filter for real-time tracking of single and multiple surgical instruments during surgery. Preliminary results show that the proposed method has a real-time performance. Moreover it is robust to partial occlusion and smoke. The system shows high sensitivity and specificity results for blue, green and yellow colours. The achieved sensitivity and specificity results are sufficient to apply the system for real-time registration of surgical workflow in-vivo during surgery.
手术过程中的器械跟踪正成为一种适用于不同应用的有用获取工具。本文提出了一种跟踪系统，该系统使用生物相容性颜色标记在内窥镜视频中检测和跟踪器械。该系统可在视频中跟踪单个或多个器械。此方法的独特之处在于，它将连续自适应移位算法与卡尔曼滤波器相结合，用于在手术期间实时跟踪单个和多个手术器械。初步结果表明，所提出的方法具有实时性能。此外，它对部分遮挡和烟雾具有鲁棒性。该系统对蓝色、绿色和黄色显示出高灵敏度和特异性结果。所获得的灵敏度和特异性结果足以将该系统应用于手术期间体内手术工作流程的实时配准。
