Jakob Weiss1, Nicola Rieke2, Mohammad Ali Nasseri3, Mathias Maier3, Abouzar Eslami4, Nassir Navab2,5. 1. Computer Aided Medical Procedures, Technische Universität München, Boltzmannstr. 3, 85748, Garching, Germany. Jakob.Weiss@tum.de. 2. Computer Aided Medical Procedures, Technische Universität München, Boltzmannstr. 3, 85748, Garching, Germany. 3. Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universit München, 81675, Munich, Germany. 4. Carl Zeiss Meditec AG, 81379, Munich, Germany. 5. Johns Hopkins University, Baltimore, MD, USA.
Abstract
PURPOSE: Intraoperative optical coherence tomography (iOCT) is an increasingly available imaging technique for ophthalmic microsurgery that provides high-resolution cross-sectional information of the surgical scene. We propose to build on its desirable qualities and present a method for tracking the orientation and location of a surgical needle. Thereby, we enable the direct analysis of instrument-tissue interaction directly in OCT space without complex multimodal calibration that would be required with traditional instrument tracking methods. METHOD: The intersection of the needle with the iOCT scan is detected by a peculiar multistep ellipse fitting that takes advantage of the directionality of the modality. The geometric modeling allows us to use the ellipse parameters and provide them into a latency-aware estimator to infer the 5DOF pose during needle movement. RESULTS: Experiments on phantom data and ex vivo porcine eyes indicate that the algorithm retains angular precision especially during lateral needle movement and provides a more robust and consistent estimation than baseline methods. CONCLUSION: Using solely cross-sectional iOCT information, we are able to successfully and robustly estimate a 5DOF pose of the instrument in less than 5.4 ms on a CPU.
PURPOSE: Intraoperative optical coherence tomography (iOCT) is an increasingly available imaging technique for ophthalmic microsurgery that provides high-resolution cross-sectional information of the surgical scene. We propose to build on its desirable qualities and present a method for tracking the orientation and location of a surgical needle. Thereby, we enable the direct analysis of instrument-tissue interaction directly in OCT space without complex multimodal calibration that would be required with traditional instrument tracking methods. METHOD: The intersection of the needle with the iOCT scan is detected by a peculiar multistep ellipse fitting that takes advantage of the directionality of the modality. The geometric modeling allows us to use the ellipse parameters and provide them into a latency-aware estimator to infer the 5DOF pose during needle movement. RESULTS: Experiments on phantom data and ex vivo porcine eyes indicate that the algorithm retains angular precision especially during lateral needle movement and provides a more robust and consistent estimation than baseline methods. CONCLUSION: Using solely cross-sectional iOCT information, we are able to successfully and robustly estimate a 5DOF pose of the instrument in less than 5.4 ms on a CPU.
Authors: Nicola Rieke; David Joseph Tan; Chiara Amat di San Filippo; Federico Tombari; Mohamed Alsheakhali; Vasileios Belagiannis; Abouzar Eslami; Nassir Navab Journal: Med Image Anal Date: 2016-05-13 Impact factor: 8.545
Authors: Marc B Muijzer; Friso G Heslinga; Floor Couwenberg; Herke-Jan Noordmans; Abdelkarim Oahalou; Josien P W Pluim; Mitko Veta; Robert P L Wisse Journal: Biomed Opt Express Date: 2022-04-08 Impact factor: 3.562