TAToo: Vision-based Joint Tracking of Anatomy and Tool for Skull-base Surgery

• URL: http://arxiv.org/abs/2212.14131v2
• Date: Tue, 16 May 2023 14:59:50 GMT
• Title: TAToo: Vision-based Joint Tracking of Anatomy and Tool for Skull-base Surgery
• Authors: Zhaoshuo Li, Hongchao Shu, Ruixing Liang, Anna Goodridge, Manish Sahu, Francis X. Creighton, Russell H. Taylor, Mathias Unberath
• Abstract summary: Tracking the 3D motion of the surgical tool and the patient anatomy is a fundamental requirement for computer-assisted skull-base surgery. We present Tracker of Anatomy and Tool (TAToo), which simultaneously tracks the surgical tool and the patient anatomy in skull-base surgery.
• Score: 7.593476860132712
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Purpose: Tracking the 3D motion of the surgical tool and the patient anatomy is a fundamental requirement for computer-assisted skull-base surgery. The estimated motion can be used both for intra-operative guidance and for downstream skill analysis. Recovering such motion solely from surgical videos is desirable, as it is compliant with current clinical workflows and instrumentation. Methods: We present Tracker of Anatomy and Tool (TAToo). TAToo jointly tracks the rigid 3D motion of patient skull and surgical drill from stereo microscopic videos. TAToo estimates motion via an iterative optimization process in an end-to-end differentiable form. For robust tracking performance, TAToo adopts a probabilistic formulation and enforces geometric constraints on the object level. Results: We validate TAToo on both simulation data, where ground truth motion is available, as well as on anthropomorphic phantom data, where optical tracking provides a strong baseline. We report sub-millimeter and millimeter inter-frame tracking accuracy for skull and drill, respectively, with rotation errors below 1{\deg}. We further illustrate how TAToo may be used in a surgical navigation setting. Conclusion: We present TAToo, which simultaneously tracks the surgical tool and the patient anatomy in skull-base surgery. TAToo directly predicts the motion from surgical videos, without the need of any markers. Our results show that the performance of TAToo compares favorably to competing approaches. Future work will include fine-tuning of our depth network to reach a 1 mm clinical accuracy goal desired for surgical applications in the skull base.

Related papers

• SurgPointTransformer: Vertebrae Shape Completion with RGB-D Data [0.0]
  This study introduces an alternative, radiation-free approach for reconstructing the 3D spine anatomy using RGB-D data. We introduce SurgPointTransformer, a shape completion approach for surgical applications that can accurately reconstruct the unexposed spine regions from sparse observations of the exposed surface. Our method significantly outperforms the state-of-the-art baselines, achieving an average Chamfer Distance of 5.39, an F-Score of 0.85, an Earth Mover's Distance of 0.011, and a Signal-to-Noise Ratio of 22.90 dB.
  arXiv  Detail & Related papers  (2024-10-02T11:53:28Z)
• Monocular Microscope to CT Registration using Pose Estimation of the Incus for Augmented Reality Cochlear Implant Surgery [3.8909273404657556]
  We develop a method that permits direct 2D-to-3D registration of the view microscope video to the pre-operative Computed Tomography (CT) scan without the need for external tracking equipment. Our results demonstrate the accuracy with an average rotation error of less than 25 degrees and a translation error of less than 2 mm, 3 mm, and 0.55% for the x, y, and z axes, respectively.
  arXiv  Detail & Related papers  (2024-03-12T00:26:08Z)
• An Endoscopic Chisel: Intraoperative Imaging Carves 3D Anatomical Models [8.516340459721484]
  We propose a first vision-based approach to update the preoperative 3D anatomical model. Results show a decrease in error during surgical progression as opposed to increasing when no update is employed.
  arXiv  Detail & Related papers  (2024-02-19T05:06:52Z)
• CholecTrack20: A Dataset for Multi-Class Multiple Tool Tracking in Laparoscopic Surgery [1.8076340162131013]
  CholecTrack20 is an extensive dataset meticulously annotated for multi-class multi-tool tracking across three perspectives. The dataset comprises 20 laparoscopic videos with over 35,000 frames and 65,000 annotated tool instances.
  arXiv  Detail & Related papers  (2023-12-12T15:18:15Z)
• Visual-Kinematics Graph Learning for Procedure-agnostic Instrument Tip Segmentation in Robotic Surgeries [29.201385352740555]
  We propose a novel visual-kinematics graph learning framework to accurately segment the instrument tip given various surgical procedures. Specifically, a graph learning framework is proposed to encode relational features of instrument parts from both image and kinematics. A cross-modal contrastive loss is designed to incorporate robust geometric prior from kinematics to image for tip segmentation.
  arXiv  Detail & Related papers  (2023-09-02T14:52:58Z)
• On the Localization of Ultrasound Image Slices within Point Distribution Models [84.27083443424408]
  Thyroid disorders are most commonly diagnosed using high-resolution Ultrasound (US) Longitudinal tracking is a pivotal diagnostic protocol for monitoring changes in pathological thyroid morphology. We present a framework for automated US image slice localization within a 3D shape representation.
  arXiv  Detail & Related papers  (2023-09-01T10:10:46Z)
• Next-generation Surgical Navigation: Marker-less Multi-view 6DoF Pose Estimation of Surgical Instruments [66.74633676595889]
  We present a multi-camera capture setup consisting of static and head-mounted cameras. Second, we publish a multi-view RGB-D video dataset of ex-vivo spine surgeries, captured in a surgical wet lab and a real operating theatre. Third, we evaluate three state-of-the-art single-view and multi-view methods for the task of 6DoF pose estimation of surgical instruments.
  arXiv  Detail & Related papers  (2023-05-05T13:42:19Z)
• Live image-based neurosurgical guidance and roadmap generation using unsupervised embedding [53.992124594124896]
  We present a method for live image-only guidance leveraging a large data set of annotated neurosurgical videos. A generated roadmap encodes the common anatomical paths taken in surgeries in the training set. We trained and evaluated the proposed method with a data set of 166 transsphenoidal adenomectomy procedures.
  arXiv  Detail & Related papers  (2023-03-31T12:52:24Z)
• Towards Autonomous Atlas-based Ultrasound Acquisitions in Presence of Articulated Motion [48.52403516006036]
  This paper proposes a vision-based approach allowing autonomous robotic US limb scanning. To this end, an atlas MRI template of a human arm with annotated vascular structures is used to generate trajectories. In all cases, the system can successfully acquire the planned vascular structure on volunteers' limbs.
  arXiv  Detail & Related papers  (2022-08-10T15:39:20Z)
• Multimodal Semantic Scene Graphs for Holistic Modeling of Surgical Procedures [70.69948035469467]
  We take advantage of the latest computer vision methodologies for generating 3D graphs from camera views. We then introduce the Multimodal Semantic Graph Scene (MSSG) which aims at providing unified symbolic and semantic representation of surgical procedures.
  arXiv  Detail & Related papers  (2021-06-09T14:35:44Z)
• Tattoo tomography: Freehand 3D photoacoustic image reconstruction with an optical pattern [49.240017254888336]
  Photoacoustic tomography (PAT) is a novel imaging technique that can resolve both morphological and functional tissue properties. A current drawback is the limited field-of-view provided by the conventionally applied 2D probes. We present a novel approach to 3D reconstruction of PAT data that does not require an external tracking system.
  arXiv  Detail & Related papers  (2020-11-10T09:27:56Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.