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Quantitative Endoscopy - Needle Tracking

Lukas Bossard and Christian Wengert
, 2007
Computer Vision Lab, ETH Zuerich


Augmented endoscopy is a desired feature for today?s minimal invasive surgery as depth information gets lost due to the purely 2D visualization. Currently the endoscope is used only as a keyhole to look inside the human body and no augmentation is used so far allthough the augmentation would accelerate the operation time and thus would be less invasive for the patient. During this semesterthesis a flexible needle tracker has been developed, which augments the image data with additional depth information and thus meets the previously stated desires in today?s endoscopy applications. The aim of real time processing was achieved for distances larger than 4 cm between needle and endoscope due to the simple needle recognition and tracking approach. Furthermore the proposed method requires neither any additional markers and/or trackers, nor a stereoscopic endoscope, but only a calibrated camera, what makes this application directly usable. Thanks to the existing Quantitative Endoscopy framework with integrated hand to eye calibration, all the necessary preparation steps can be done in the operating room in a fast way.

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  author = {Lukas Bossard and Christian Wengert},
  title = {Quantitative Endoscopy - Needle Tracking},
  year = {2007},
  month = {January},
  institution = {Computer Vision Lab, ETH Zuerich},
  keywords = {}