Multi-target Attachment for Surgical Instrument Tracking

The pose estimation of a surgical instrument is a common problem in the new needs of medical science. Many instrument tracking methods use markers with a known geometry that allows for solving the instrument pose as detected by a camera. However, marker occlusion happens, and it hinders correct pose estimation. In this work, we propose an adaptable multi-target attachment with ArUco markers to solve occlusion problems on tracking a medical instrument like an ultrasound probe or a scalpel. Our multi-target system allows for precise and redundant real-time pose estimation implemented in OpenCV. Encouraging results show that the multi-target device may prove useful in the clinical setting.

Automated summary

Pose estimation of surgical instruments is a common issue in medical science, with marker occlusion posing a challenge. An adaptable multi-target attachment with ArUco markers is proposed as a solution to occlusion issues, enabling precise and redundant real-time pose estimation. Encouraging results suggest the multi-target device could be beneficial in clinical settings.