TY - CHAP
T1 - A Real-Time Target Tracking Algorithm for a Robotic Flexible Endoscopy Platform
AU - van der Stap, Nanda
AU - Voskuilen, Luuk
AU - de Jong, Guido
AU - Pullens, Hendrikus J.M.
AU - Schwartz, Matthijs P.
AU - Broeders, Ivo
AU - van der Heijden, Ferdi
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
KW - Root Mean Square Error
KW - Scale Invariant Feature Transform
KW - Flexible endoscopy
KW - Algorithm brute force
KW - Feature tracking algorithm
UR - http://www.scopus.com/inward/record.url?eid=2-s2.0-84961226654&partnerID=MN8TOARS
U2 - 10.1007/978-3-319-29965-5_8
DO - 10.1007/978-3-319-29965-5_8
M3 - Chapter
SN - 978-3-319-29965-5
T3 - Lecture Notes in Computer Science
SP - 81
EP - 89
BT - CARE 2015: Computer-Assisted and Robotic Endoscopy
A2 - Luo, Xiongbiao
A2 - Reichl, Tobias
A2 - Reiter, Austin
A2 - Mariottini, Gian-Luca
PB - Springer
CY - Cham
T2 - Second International Workshop on Computer-Assisted and Robotic Endoscopy, CARE 2015
Y2 - 5 October 2015 through 5 October 2015
ER -