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Related Experiment Video

Updated: Jan 8, 2026

Technical Approach for Infrared Tracking for Soft Tissue Navigation with a Holographic Head-Mounted Display and Preclinical Validation
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Markerless Tracking of Robotic Surgical Instruments With Head Mounted Display for Augmented Reality Applications.

Nicholas Greene1, Aoqi Long2, Yonghao Long2

  • 1Department of Computer Science Johns Hopkins University Baltimore Maryland USA.

Healthcare Technology Letters
|December 18, 2025
PubMed
Summary
This summary is machine-generated.

A new markerless tracking method for robotic surgery instruments enhances augmented reality (AR) assistance. This HoloLens 2 based system achieves accuracy comparable to marker-based methods, improving surgical workflow.

Keywords:
augmented realitymedical roboticspose estimation

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Area of Science:

  • Medical Robotics
  • Computer Vision
  • Surgical Technology

Background:

  • Robotic-assisted surgery requires precise instrument tracking for effective surgeon-assistant collaboration.
  • Current marker-based tracking methods in augmented reality (AR) systems can disrupt surgical workflows due to sterilization and attachment requirements.

Purpose of the Study:

  • To develop and evaluate a novel markerless tracking method for robotic instruments in AR-assisted surgery.
  • To assess the accuracy of the markerless method compared to traditional marker-based approaches.

Main Methods:

  • Utilized HoloLens 2 head-mounted display (HMD) for markerless tracking.
  • Employed YOLOv11 and SAMURAI networks for detecting instrument primitives (shaft lines, keypoints).
  • Recovered 6D instrument poses using a pipeline combining perspective-n-point (PnP) and multi-view least-squares optimization.

Main Results:

  • The markerless tracking method demonstrated instrument tip accuracy comparable to a baseline marker-based system.
  • The proposed method successfully localized robotic instruments without the need for physical markers.

Conclusions:

  • Markerless tracking is a viable and effective alternative to marker-based tracking for AR-assisted robotic surgery.
  • This approach streamlines the surgical workflow by eliminating the need for marker sterilization and attachment.