A real-rime target tracking algorithm for a robotic flexible endoscopy platform

N. van der Stap, Luuk Voskuilen, Guido de Jong, Hendrikus J.M. Pullens, Matthijs P. Schwartz, Ivo Adriaan Maria Johannes Broeders, Ferdinand van der Heijden

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    Abstract

    Complex endoscopic interventions require a new generation of devices and instruments. A robotic platform for flexible endoscopy through telemanipulation was developed to meet this demand. The concept of telemanipulation allows the development of software for computer-aided surgery. Intelligent navigation such as automated target centralization could assist the endoscopist during procedures. A real-time algorithm was designed for tracking a target region that is of specific interest for the surgeon. Therefore, the physician needs to indicate the region to be tracked, which then will be centralized (locked). The goal of this research is to investigate the robustness and accuracy of the tracking algorithm during endoscopic interventions. The region of interest can be a polyp for polypectomy, Vater’s ampulla for Endoscopic Retrograde CholangioPancreatography (ERCP), Barrett’s epithelia for gastroscopic biopsy or any area in more complex procedures. The algorithm was tested in vitro on image sequences obtained during real endoscopic interventions. The indicated area of interest could be tracked in all image sequences, with an accuracy of 91.6% (Q1–Q3 77.7%–99.0%, intraclass correlation). The algorithm was robust against instruments or smoke in the field of view. Tracking was less robust against very large camera movements. The developed target lock worked robustly, in real-time and was found to be accurate. Improvements include improving the robustness of the algorithm against motion blur and drift.
    Original languageUndefined
    Title of host publicationComputer-Assisted and Robotic Endoscopy: Second International Workshop, CARE 2015, Held in Conjunction with MICCAI 2015, Munich, Germany, October 5, 2015, Revised Selected Papers
    EditorsX. Luo, T. Reichl, A. Reiter, G.L. Mariottini
    PublisherSpringer
    Pages81-89
    Number of pages9
    ISBN (Print)978-3-319-29965-5
    DOIs
    Publication statusPublished - 2016

    Publication series

    NameLecture Notes in Computer Science
    PublisherSpringer International Publishing
    Volume9515

    Keywords

    • METIS-321708
    • EWI-27702
    • IR-103644

    Cite this

    van der Stap, N., Voskuilen, L., de Jong, G., Pullens, H. J. M., Schwartz, M. P., Broeders, I. A. M. J., & van der Heijden, F. (2016). A real-rime target tracking algorithm for a robotic flexible endoscopy platform. In X. Luo, T. Reichl, A. Reiter, & G. L. Mariottini (Eds.), Computer-Assisted and Robotic Endoscopy: Second International Workshop, CARE 2015, Held in Conjunction with MICCAI 2015, Munich, Germany, October 5, 2015, Revised Selected Papers (pp. 81-89). (Lecture Notes in Computer Science; Vol. 9515). Springer. https://doi.org/10.1007/978-3-319-29965-5_8
    van der Stap, N. ; Voskuilen, Luuk ; de Jong, Guido ; Pullens, Hendrikus J.M. ; Schwartz, Matthijs P. ; Broeders, Ivo Adriaan Maria Johannes ; van der Heijden, Ferdinand. / A real-rime target tracking algorithm for a robotic flexible endoscopy platform. Computer-Assisted and Robotic Endoscopy: Second International Workshop, CARE 2015, Held in Conjunction with MICCAI 2015, Munich, Germany, October 5, 2015, Revised Selected Papers. editor / X. Luo ; T. Reichl ; A. Reiter ; G.L. Mariottini. Springer, 2016. pp. 81-89 (Lecture Notes in Computer Science).
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    van der Stap, N, Voskuilen, L, de Jong, G, Pullens, HJM, Schwartz, MP, Broeders, IAMJ & van der Heijden, F 2016, A real-rime target tracking algorithm for a robotic flexible endoscopy platform. in X Luo, T Reichl, A Reiter & GL Mariottini (eds), Computer-Assisted and Robotic Endoscopy: Second International Workshop, CARE 2015, Held in Conjunction with MICCAI 2015, Munich, Germany, October 5, 2015, Revised Selected Papers. Lecture Notes in Computer Science, vol. 9515, Springer, pp. 81-89. https://doi.org/10.1007/978-3-319-29965-5_8

    A real-rime target tracking algorithm for a robotic flexible endoscopy platform. / van der Stap, N.; Voskuilen, Luuk; de Jong, Guido; Pullens, Hendrikus J.M.; Schwartz, Matthijs P.; Broeders, Ivo Adriaan Maria Johannes; van der Heijden, Ferdinand.

    Computer-Assisted and Robotic Endoscopy: Second International Workshop, CARE 2015, Held in Conjunction with MICCAI 2015, Munich, Germany, October 5, 2015, Revised Selected Papers. ed. / X. Luo; T. Reichl; A. Reiter; G.L. Mariottini. Springer, 2016. p. 81-89 (Lecture Notes in Computer Science; Vol. 9515).

    Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

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    AU - de Jong, Guido

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    AU - Schwartz, Matthijs P.

    AU - Broeders, Ivo Adriaan Maria Johannes

    AU - van der Heijden, Ferdinand

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    van der Stap N, Voskuilen L, de Jong G, Pullens HJM, Schwartz MP, Broeders IAMJ et al. A real-rime target tracking algorithm for a robotic flexible endoscopy platform. In Luo X, Reichl T, Reiter A, Mariottini GL, editors, Computer-Assisted and Robotic Endoscopy: Second International Workshop, CARE 2015, Held in Conjunction with MICCAI 2015, Munich, Germany, October 5, 2015, Revised Selected Papers. Springer. 2016. p. 81-89. (Lecture Notes in Computer Science). https://doi.org/10.1007/978-3-319-29965-5_8