Improved tool tracking algorithm for eye surgery based on combined color space masks

Krzysztof Gromada; Bartlomiej Piotrowski; Piotr Ciacka; Adam Kurek; Andrea Curatolo

doi:10.1117/12.2654602

3 April 2023 Improved tool tracking algorithm for eye surgery based on combined color space masks

Krzysztof Gromada, Bartlomiej Piotrowski, Piotr Ciacka, Adam Kurek, Andrea Curatolo

Proceedings Volume 12466, Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling; 124660G (2023) https://doi.org/10.1117/12.2654602
Event: SPIE Medical Imaging, 2023, San Diego, California, United States

Abstract

Estimation of surgical tool pose is essential for surgical image guidance. Near real-time position and angle estimation is crucial, for example, for intraoperative optical coherence tomography tracking in retinal microsurgery. The current state-of-the-art algorithm for surgical tool tracking in posterior eye surgery was first introduced by Alsheakhali et al.1 We propose Dual Color Space Algorithm - an improved tool segmentation method based on combined color space masks, set thresholds, a shadow-insensitive detector for the tool edge, and more robust detection of the tip of the surgical tools. The presented algorithms are benchmarked on a series of manually annotated images from posterior eye surgery video. The video frames suffer from the confounding effect of the tool’s shadow and spot illumination occurring several times. A severalfold improvement in the algorithm’s accuracy is reported.

Conference Presentation

Citation Download Citation

Krzysztof Gromada, Bartlomiej Piotrowski, Piotr Ciacka, Adam Kurek, and Andrea Curatolo "Improved tool tracking algorithm for eye surgery based on combined color space masks", Proc. SPIE 12466, Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling, 124660G (3 April 2023); https://doi.org/10.1117/12.2654602

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