MARKERLESS TRACKING OF ROBOTIC SURGICAL TOOLS

摘要

Appearance learning systems, methods and computer products for three-dimensional markerless tracking of robotic surgical tools. An appearance learning approach is provided that is used to detect and track surgical robotic tools in laparoscopic sequences. By training a robust visual feature descriptor on low-level landmark features, a framework is built for fusing robot kinematics and 3D visual observations to track surgical tools over long periods of time across various types of environments. Three-dimensional tracking is enabled on multiple tools of multiple types with different overall appearances. The presently disclosed subject matter is applicable to surgical robot systems such as the da Vinci® surgical robot in both ex vivo and in vivo environments.

主权项

1. A robotic surgical tool tracking method, comprising:
generating a descriptor of a region of an input image; applying a trained classifier to the descriptor to generate an output indicative of whether a feature of a surgical tool is present in the region; determining the location of the feature of the surgical tool based on the output of the trained classifier.