A Probabilistic Framework for Tracking Deformable Soft Tissue in Minimally Invasive Surgery

The use of vision based algorithms in minimally invasive surgery has attracted significant attention in recent years due to its potential in providing in situ 3D tissue deformation recovery for intra-operative surgical guidance and robotic navigation. Thus far, a large number of feature descriptors have been proposed in computer vision but direct application of these techniques to minimally invasive surgery has shown significant problems due to free-form tissue deformation and varying visual appearances of surgical scenes. This paper evaluates the current state-of-the-art feature descriptors in computer vision and outlines their respective performance issues when used for deformation tracking. A novel probabilistic framework for selecting the most discriminative descriptors is presented and a Bayesian fusion method is used to boost the accuracy and temporal persistency of soft-tissue deformation tracking. The performance of the proposed method is evaluated with both simulated data with known ground truth, as well as in vivo video sequences recorded from robotic assisted MIS procedures.