Endoscope tracking algorithm for minimally invasive surgeries

Abstract

Minimally invasive surgery (MIS) has revolutionized surgical care, providing significant benefits for the health of the patients. In contrast to the positive impact on patient safety, MIS implies completely changing the way surgeons face surgical interventions. One of the aspects that are completely altered by MIS workflow is the way surgeons guide their interaction within the operated area. The video-based visual feedback is a source of significant difficulties in terms of spatial orientation and instrumental handling. The proposed method applies automatic MIS video processing based on Structure from Motion in order to define a software-based tracking system to provide orientation support in laparoscope handling during surgeries. The implemented algorithm shows the potential of geometric video analysis to follow camera motion in an objective and transparent manner.