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Published in:
2012 | OriginalPaper | Chapter
Data-Driven Visual Tracking in Retinal Microsurgery
Authors : Raphael Sznitman, Karim Ali, Rogério Richa, Russell H. Taylor, Gregory D. Hager, Pascal Fua
Published in: Medical Image Computing and Computer-Assisted Intervention – MICCAI 2012
Publisher: Springer Berlin Heidelberg
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In the context of retinal microsurgery, visual tracking of instruments is a key component of robotics assistance. The difficulty of the task and major reason why most existing strategies fail on
in-vivo
image sequences lies in the fact that complex and severe changes in instrument appearance are challenging to model. This paper introduces a novel approach, that is both data-driven and complementary to existing tracking techniques. In particular, we show how to learn and integrate an accurate detector with a simple gradient-based tracker within a robust pipeline which runs at framerate. In addition, we present a fully annotated dataset of retinal instruments in
in-vivo
surgeries, which we use to quantitatively validate our approach. We also demonstrate an application of our method in a laparascopy image sequence.