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Updated: Dec 26, 2025
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Author Spotlight: An Efficient and Robust Software for Automated Fusion of Multiple Preclinical Imaging Modalities
Published on: October 27, 2023
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Robust marker detection and high precision measurement for real-time anatomical registration using Taguchi method
Abhishek Kaushik1, T A Dwarakanath1,2, Gaurav Bhutani2
1Department of Engineering Sciences, Homi Bhabha National Institute, Mumbai, India.
Summary
This study presents a robust real-time algorithm for autonomous marker detection and coordinate measurement, crucial for precise robot-assisted surgery. The algorithm ensures accuracy even under challenging operating room conditions.
Area of Science:
- Computer Vision
- Robotics
- Medical Imaging
Background:
- Accurate autonomous marker detection and measurement are critical for high-precision anatomical registration in surgery.
- Real-time, accurate, and robust measurements are essential despite varied operating theatre conditions.
Purpose of the Study:
- To design and implement a robust, real-time algorithm for measuring marker coordinates.
- To enable robot-based autonomous registration and surgery through precise marker localization.
Main Methods:
- Algorithm developed in two parts using the recursive Taguchi method.
- Part one focuses on marker detection.
- Part two locates the marker's center and measures coordinates via concentric ellipse fitting.
Main Results:
- Algorithm tested under extreme conditions: uneven lighting, distorted color, surface distortions, and random marker orientation.
- Demonstrated robustness in real-time marker detection and measurement.
Conclusions:
- The developed algorithm is successfully implemented for real-time marker detection and coordinate measurement.
- The system provides a reliable solution for autonomous registration in robotic surgery.
