Skip to main content
SpringerLink
Log in

Fast 5DOF needle tracking in iOCT

  • Original Article
  • Published:
International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7

Similar content being viewed by others

References

  1. Roodaki H, di San Filippo CA, Zapp D, Navab N, Eslami A (2016) A surgical guidance system for big-bubble deep anterior lamellar keratoplasty. In: MICCAI. Springer, pp 378–385

  2. Ehlers J (2016) Intraoperative optical coherence tomography: past, present, and future. Eye 30(2):193–201

    Article  PubMed  CAS  Google Scholar 

  3. Richa R, Balicki M, Meisner E, Sznitman R, Taylor R, Hager G (2011) Visual tracking of surgical tools for proximity detection in retinal surgery. In: IPCAI, pp 55–66

  4. Baek YM, Tanaka S, Kanako H, Sugita N, Morita A, Sora S, Mochizuki R, Mitsuishi M (2012) Full state visual forceps tracking under a microscope using projective contour models. In: Proceedings of IEEE ICRA, pp 2919–2925

  5. Sznitman R, Becker C, Fua P (2014) Fast part-based classification for instrument detection in minimally invasive surgery. In: Golland P, Hata N, Barillot C, Hornegger J, Howe R (eds) MICCAI 2014. LNCS, vol 8673. Springer, Heidelberg, pp 692–699

  6. Allan M, Chang PL, Ourselin S, Hawkes DJ, Sridhar A, Kelly J, Stoyanov D (2015) Image based surgical instrument pose estimation with multi-class labelling and optical flow. In: MICCAI. Springer, pp 331–338

  7. Rieke N, Tan DJ, di San Filippo CA, Tombari F, Alsheakhali M, Belagiannis V, Eslami A, Navab N (2016) Real-time localization of articulated surgical instruments in retinal microsurgery. Med Image Anal 34:82–100

    Article  PubMed  Google Scholar 

  8. Rieke N, Tan DJ, Tombari F, Page Vizcaíno J, di San Filippo CA, Eslami A, Navab N (2016) Real-time online adaption for robust instrument tracking and pose estimation. In: International conference on medical image computing and computer-assisted intervention. Springer, pp 422–430

  9. Garcia Peraza Herrera L, Li W, Gruijthuijsen C, Devreker A, Attilakos G, Deprest J, Vander Poorten E, Stoyanov D, Vercauteren T, Ourselin S (2016) Real-time segmentation of non-rigid surgical tools based on deep learning and tracking. In: CARE workshop at international conference on medical image computing and computer-assisted intervention. Springer

  10. Laina I, Rieke N, Rupprecht C, Vizcaíno JP, Eslami A, Tombari F, Navab N (2017) Concurrent segmentation and localization for tracking of surgical instruments. In: International conference on medical image computing and computer-assisted intervention 2017. Springer, pp 664–672. The first two authors contributed equally to this paper

  11. Kurmann T, Neila PM, Du X, Fua P, Stoyanov D, Wolf S, Sznitman R (2017) Simultaneous recognition and pose estimation of instruments in minimally invasive surgery. In: International conference on medical image computing and computer-assisted intervention. Springer, pp 505–513

  12. Zhou M, Roodaki H, Eslami A, Chen G, Huang K, Maier M, Lohmann C, Knoll A, Nasseri M (2017) Needle segmentation in volumetric optical coherence tomography images for ophthalmic microsurgery. Appl Sci 7(8):748

    Article  Google Scholar 

  13. Jazwinski AH (2007) Stochastic processes and filtering theory. Courier Corporation, New York

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Computer Aided Medical Procedures, Technische Universität München, Boltzmannstr. 3, 85748, Garching, Germany

    Jakob Weiss, Nicola Rieke & Nassir Navab

  2. Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universit München, 81675, Munich, Germany

    Mohammad Ali Nasseri & Mathias Maier

  3. Carl Zeiss Meditec AG, 81379, Munich, Germany

    Abouzar Eslami

  4. Johns Hopkins University, Baltimore, MD, USA

    Nassir Navab

Authors
  1. Jakob Weiss
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Nicola Rieke
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Mohammad Ali Nasseri
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Mathias Maier
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Abouzar Eslami
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Nassir Navab
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jakob Weiss.

Ethics declarations

Conflict of interest

The authors declare that they have no conflict of interest.

Ethical statement

All procedures performed in studies involving animals were in accordance with the ethical standards of the institution or practice at which the studies were conducted. This article does not contain patient data.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Weiss, J., Rieke, N., Nasseri, M.A. et al. Fast 5DOF needle tracking in iOCT. Int J CARS 13, 787–796 (2018). https://doi.org/10.1007/s11548-018-1751-5

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11548-018-1751-5

Keywords

Search

Navigation