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Three-Dimensional Ultrasonic Needle Tip Tracking with a Fiber-Optic Ultrasound Receiver
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Three-Dimensional Surgical Needle Localization and Tracking Using Stereo Endoscopic Image Streams.

Orhan Özgüner1, Ran Hao1, Russell C Jackson1

  • 1Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH.

IEEE International Conference on Robotics and Automation : ICRA : [Proceedings]. IEEE International Conference on Robotics and Automation
|June 2, 2021
PubMed
Summary

This study introduces a new method for 3D surgical needle tracking using da Vinci robot camera images. The algorithm enhances precision in robotic surgery by accurately estimating needle position.

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Area of Science:

  • Robotics
  • Computer Vision
  • Surgical Technology

Background:

  • Accurate tracking of surgical instruments is crucial for minimally invasive robotic surgery.
  • The da Vinci Surgical Robotic System offers advanced visualization but requires precise instrument tracking.

Purpose of the Study:

  • To develop and evaluate a 3D surgical needle tracking algorithm for the da Vinci Surgical Robotic System.
  • To improve the precision and safety of robotic-assisted surgical procedures.

Main Methods:

  • Utilized stereo endoscopic camera images from the da Vinci Surgical Robotic System.
  • Employed Bayesian state estimation, computer vision, and robot kinematics.
  • Implemented a virtual needle rendering technique and a particle filter algorithm for tracking.

Main Results:

  • Successfully tracked surgical needles in 3D space using real-time endoscopic imagery.
  • Demonstrated the algorithm's performance through experimental evaluation on an actual da Vinci system.
  • Validated tracking accuracy quantitatively in a ROS/Gazebo simulation environment.

Conclusions:

  • The proposed algorithm provides robust and accurate 3D surgical needle tracking.
  • This method has the potential to enhance surgical precision and outcomes in robotic surgery.
  • The integration of virtual rendering and particle filtering offers a viable solution for real-time instrument tracking.