Surgical Instrument Tracking

Latest papers

16 papers7 papers in the last four weeks, against 1 the four weeks before. 0.0% of all new papers.

Augmenting Real-time Visualization in Minimally Invasive Surgery with Particle Filtering and Depth-Aware Occlusion Handling
Oct 13, 2026Anuska Sarkar, Partha Acharya, Vishnu Nandury +2Surgical Instrument Tracking Occlusion Reasoning
School of Medical Science and Technology, Indian Institute of Technology Kharagpur, Kharagpur 721302 India · Computer Science Department, Arizona State University, Tempe, Arizona 85287 USA · Narayana Hospital, Kolkata 700107 India
LARK: A Low-Cost, Accurate, Occlusion-Resilient, Kalman Filter-Assisted Tracking System for Image-Guided Surgery
Oct 6, 2026George Sideris, Justin Cree, Andrew Stirling +3Visual Object Tracking Surgical Instrument Tracking
Department of Mechanical Engineering, McGill University, Montreal, Canada · Montreal Neurological Institute, McGill University, Montreal, Canada
Robust Surgical Robotic Instrument Tracking via Sequential Multi-Cue Fusion and Sim-to-Real Self-Training
Oct 4, 2026Hanyang Hu, Zekai Liang, Florian Richter +1Self-Training Sim-to-Real Transfer
Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093 USA.
Drape-Compatible Tool-Tip Localization for Hand-Held Laparoscopic Instruments via UWB Carrier-Phase Ranging and Trocar-Constrained Geometry
Sep 30, 2026Jinseok Lee, Dongho Yee, Minsung Kim +8Relative Pose Estimation Surgical Robotics
Department of Transdisciplinary Medicine, Seoul National University Hospital. · Rosota Inc., Seoul, Republic of Korea. · Department of Mechanical Engineering, Seoul National University. +5
Surgical Kinematics from Monocular Video with Learned Articulated Motion Constraints
Sep 23, 2026Mehmet Kerem Turkcan, Soham Samal, Zoran KosticSurgical Robotics Robot Kinematics
Columbia University, New York, NY, USA
From Instrument-Mounted Demonstrations to In-Vivo Execution: Learning Bimanual Laparoscopic Appendectomy Without Robot-Collected Demonstrations
Sep 22, 2026Dongho Yee, Juahn Oh, Jinseok Lee +10Bimanual Robotic Manipulation Learning from Demonstration
Department of Transdisciplinary Medicine, Seoul National University Hospital · Rosota Inc., Seoul, Republic of Korea · Department of Mechanical Engineering, Seoul National University +8
Recording Hand-Held Laparoscopic Instrument Motion in the Operating Room: Magnetometer-Free Fusion of Inertial, Range and Visual Sensing
Sep 22, 2026Jiyul Lee, Dongho Yee, Juahn Oh +9Object Pose Estimation Error-State Kalman Filtering
Department of Transdisciplinary Medicine, Seoul National University Hospital, Seoul, Republic of Korea. · Rosota Inc., Seoul, Republic of Korea. · Department of Medicine, Seoul National University College of Medicine, Seoul, Republic of Korea. +6
RAUL: Reference-Assisted Ureteroscopy Localization for Skill Assessment
Sep 16, 2026Fangjie Li, Mai Bui, Charan Mohan +43D Reconstruction Surgical Video Understanding
Department of Biomedical Engineering, Vanderbilt University, Nashville, TN 37240 USA · Department of Computer Science, Vanderbilt University, Nashville, TN 37240 USA · Department of Urology, Vanderbilt University Medical Center, Nashville, TN 37232 USA
OSS: Open Suturing Skills Vision-Based Assessment Challenge 2024-2025
May 21, 2026Hanna Hoffmann, Setareh Bady, Claas de Boer +54Surgical Instrument Tracking Surgical Video Understanding
Towards Comprehensive Real-Time Scene Understanding in Ophthalmic Surgery through Multimodal Image Fusion
Mar 26, 2026Nikolo Rohrmoser, Ghazal Ghazaei, Michael Sommersperger +1Surgical Instrument Tracking Medical Image Analysis
Chair for Computer Aided Medical Procedures, Technical University of Munich, Garching, Germany. · Corporate Research and Technology, Carl Zeiss AG, Munich, Germany.
Training-free Detection and 6D Pose Estimation of Unseen Surgical Instruments
Mar 26, 2026Jonas Hein, Lilian Calvet, Matthias Seibold +3Object Pose Estimation Surgical Instrument Tracking
University Hospital Balgrist, University of Zurich, Switzerland. · ETH Zurich, Switzerland.
PinPoint: Monocular Needle Pose Estimation for Robotic Suturing via Stein Variational Newton and Geometric Residuals
Mar 24, 2026Jesse F. d'Almeida, Tanner Watts, Susheela Sharma Stern +3Object Pose Estimation Surgical Instrument Tracking
Department of Mechanical Engineering, Vanderbilt University, TN, USA. · Department of Electrical and Computer Engineering and Department of Computer Science, Vanderbilt University, TN, USA. · The Robotics Center and the Kahlert School of Computing, University of Utah, Salt Lake City, UT, USA.
Instrument-Splatting++: Towards Controllable Surgical Instrument Digital Twin Using Gaussian Splatting
Mar 24, 2026Shuojue Yang, Zijian Wu, Chengjiaao Liao +5Digital Twins 3D Gaussian Splatting
Department of Biomedical Engineering, National University of Singapore (NUS), Singapore. · Department of Electrical and Computer Engineering, The University of British Columbia, Vancouver, Canada · Department of Electrical and Computer Engineering, NUS.
Speak, Segment, Track, Navigate: An Interactive System for Video-Guided Skull-Base Surgery
Mar 17, 2026Jecia Z. Y. Mao, Francis X. Creighton, Russell H. Taylor +1Surgical Instrument Tracking Surgical Video Understanding
Real-time Rendering-based Surgical Instrument Tracking via Evolutionary Optimization
Mar 12, 2026Hanyang Hu, Zekai Liang, Florian Richter +1Visual Object Tracking Covariance Matrix Adaptation Evolution Strategy
Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093 USA.
Extend Your Horizon: A Device-Agnostic Surgical Tool Tracking Framework with Multi-View Optimization for Augmented Reality
Mar 9, 2026Jiaming Zhang, Mingxu Liu, Hongchao Shu +6Augmented Reality Surgical Instrument Tracking
Johns Hopkins University · Johns Hopkins University, School of Medicine · University of Arkansas, Johns Hopkins University

Oct 13, 2026J/K move · Enter open · S save

Augmenting Real-time Visualization in Minimally Invasive Surgery with Particle Filtering and Depth-Aware Occlusion Handling

Anuska Sarkar, Partha Acharya, Vishnu Nandury, Kaustav Basu+1

School of Medical Science and Technology, Indian Institute of Technology Kharagpur, Kharagpur 721302 India · Computer Science Department, Arizona State University, Tempe, Arizona 85287 USA · Narayana Hospital, Kolkata 700107 India

Surgical Instrument Tracking Occlusion Reasoning Surgical Video Understanding

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We present a real-time, hybrid framework for occlusion handling and depth-aware tracking in minimally invasive surgeries (MIS). Occlusions caused by surgical instruments often obscure the region of interest (ROI), affecting surgical precision. To address this, our approach integrates enhanced You Only Look Once (YOLO) based detection, Particle Filtering (PF), and monocular depth estimation using Multiple Depth Estimation Accuracy with Single Network (MiDaS). Occlusion is detected using a distance-based threshold between instruments and ROI. Experimental results demonstrate robust instrument detection with a confidence score of 0.85, effective occlusion event handling, and accurate depth prediction with an MAE of 0.34 cm and RMSE of 0.53 cm. Independent phantom-based validation against stereo depth measurements yielded an MAE of 0.65 cm and RMSE of 0.66 cm. The framework further achieved an occlusion detection accuracy of 81.95% while maintaining real-time performance at 38.7 FPS. Preliminary surgeon feedback indicates that the proposed visualization framework is clinically relevant and holds promise for future intraoperative image-guided navigation and decision support in MIS.