New methods for video-based tracking of laparoscopic tools

New methods for video-based tracking of laparoscopic instruments are presented. This aims to contribute for an objective evaluation of surgical skills, and for enabling augmented reality features in laparoscopic surgery. An optical geometrical model of the laparoscopic setting is developed, what is the basis for two methods proposed for assessing the 3D position of tools' tips. The first exploits the properties of the vanishing point of the tool in the image plane, and the second the apparent tool width with the distance to the camera. Groundtruth sequences are recorded and analysed, and preliminary results demonstrate the feasibility of these methods. Video-based approach constitutes a very promising alternative to mechanical, optical or electromagnetic tracking devices