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Related Experiment Video

Updated: Sep 18, 2025

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Surgical tooltip localization via concentric nested square markers and depth-RGB multi-coordinate fusion.

Dexun Zhang1, Tianqiao Zhang1, Ahmed Elazab2

  • 1School of Life and Environmental Sciences, Guilin University of Electronic Technology, Guilin, China.

International Journal of Computer Assisted Radiology and Surgery
|June 21, 2025
PubMed
Summary

This study introduces a novel nested square marker system for precise tooltip localization, improving accuracy by up to 40.1% over standard ArUco markers. This enhanced system offers robust real-time tracking for surgical navigation.

Keywords:
Concentric nested square markerDepth information fusionMulti-coordinate frame fusionTooltip tracking

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Area of Science:

  • Computer Vision
  • Robotics
  • Surgical Navigation

Background:

  • Accurate tooltip localization is essential for surgical navigation and precision tasks.
  • Traditional ArUco marker systems face challenges with detection stability and accuracy under varied tool poses.

Purpose of the Study:

  • Propose a novel real-time localization method using concentric nested square markers.
  • Enhance robustness and spatial accuracy through geometric marker enhancement and multi-coordinate frame fusion.

Main Methods:

  • Developed a marker integrating an ArUco code within a nested square structure for multi-frame pose estimation.
  • Fused poses from both structures, with optional depth data, for tooltip localization.
  • Utilized a cubic calibration object for ground-truth establishment and conducted experiments under varied conditions.

Main Results:

  • Achieved up to 40.1% improvement in average localization accuracy compared to standard ArUco markers.
  • Depth fusion reduced average error to 1.55 mm and improved stability.
  • Demonstrated superior performance against AprilTag, QR Code, and calibration patterns.

Conclusions:

  • The proposed method provides a robust, compact, and accurate localization solution for common camera systems.
  • Enhanced performance in diverse tool poses makes it suitable for real-world surgical applications.
  • Source code is publicly available for further research and development.