A Real-Time Target Tracking Algorithm for a Robotic Flexible Endoscopy Platform

Nanda van der Stap*, Luuk Voskuilen, Guido de Jong, Hendrikus J.M. Pullens, Matthijs P. Schwartz, Ivo Broeders, Ferdi van der Heijden

*Corresponding author for this work

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

    11 Downloads (Pure)


    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 languageEnglish
    Title of host publicationCARE 2015: Computer-Assisted and Robotic Endoscopy
    EditorsXiongbiao Luo, Tobias Reichl, Austin Reiter, Gian-Luca Mariottini
    Place of PublicationCham
    Number of pages9
    ISBN (Electronic)978-3-319-29965-5
    ISBN (Print)978-3-319-29965-5
    Publication statusPublished - 2016
    EventSecond International Workshop on Computer-Assisted and Robotic Endoscopy, CARE 2015 - Munich, Germany
    Duration: 5 Oct 20155 Oct 2015

    Publication series

    NameLecture Notes in Computer Science
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349
    NameImage Processing, Computer Vision, Pattern Recognition, and Graphics


    WorkshopSecond International Workshop on Computer-Assisted and Robotic Endoscopy, CARE 2015
    OtherOctober 5, 2015


    • Root Mean Square Error
    • Scale Invariant Feature Transform
    • Flexible endoscopy
    • Algorithm brute force
    • Feature tracking algorithm


    Dive into the research topics of 'A Real-Time Target Tracking Algorithm for a Robotic Flexible Endoscopy Platform'. Together they form a unique fingerprint.

    Cite this