Laparoscopy instrument tracking for single view camera and skill assessment

Benjamin Gautier, Harun Tugal, Benjie Tang, Ghulam Nabi, Mustafa Suphi Erden

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)
37 Downloads (Pure)


Assessment of minimally invasive surgical skills is a non-trivial task, usually requiring the presence and time of expert observers, including subjectivity and requiring special and expensive equipment and software. This study develops an algorithm for tracking laparoscopy instruments in the video cues of a standard laparoscopy training box with a single webcam camera and proposes new criteria to assess skill level using the extracted tool trajectories. Instrument tracking and assessment criteria together constitute a significant step towards developing a low cost, automated, and widely applicable laparoscopy training and assessment system using a standard physical training box equipped with a webcam. The developed visual tracking algorithm recovers the 3D positions of the laparoscopic instruments tips to which simple colored tapes (markers) are attached. The new assessment criteria are based on frequency analysis and linear discriminant analysis of the 3D reconstructed trajectories of the instruments. The performance of these proposed criteria are compared to the conventional criteria for laparoscopy training and demonstrated to be superior on the data we have recorded from six professional laparoscopy surgeons and ten novice subjects.

Original languageEnglish
Title of host publication2019 IEEE International Conference on Robotics and Automation (ICRA)
Number of pages7
ISBN (Electronic)9781538660270
Publication statusPublished - 12 Aug 2019
Event2019 IEEE International Conference on Robotics and Automation - Montreal, Canada
Duration: 20 May 201924 May 2019

Publication series

NameInternational Conference on Robotics and Automation (ICRA)
ISSN (Electronic)2577-087X


Conference2019 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2019

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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