A multiview stereo visionbased tracking and
positioning strategy for surgical instrument
1.School of Electronic and Optical Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu 210094, China; 2. Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou, Jiangsu 215163, China
Abstract： A multiview stereo visionbased tracking and positioning strategy for surgical instrument was proposed. A multiview stereo vision system was built using more than two cameras, and the spatial coordinate of target was reconstructed by the projection line intersection method. Under the condition with no lineofsight blocking, the spatial coordinate of target was reconstructed by extending the projection line equations. With lineofsight blocking in one camera, the binocular stereo reconstruction method was used. The tracking and positioning for a selfmade multipoint surgical instrument with a selfbuilt trinocular stereo vision system were conducted to test the capability of the proposed strategy. The results show that the system can locate the position successfully under different blocking conditions, and both the static error and the dynamic error are less than 0.15 mm. The proposed strategy can solve the problem of lineofsight blocking to some extent and avoid the missing of positioning information, and the system reliability can be improved with the required accuracy.
2018, Vol. 39 
