SOURCE-LINKED INTELLIGENCE

LapaTrack-3D: 6 DoF pre-operative shape tracking for laparoscopic surgery

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

This work proposes a real-time 6 Degree-of-Freedom (6 DoF) tracking algorithm for monocular laparoscopic surgery. It provides alignment between intra-operative video and pre-operative data (e.g., CT). The 6 DoF tracking offers a solution for accurately locating the internal anatomy of the target organ despite the lack of tactile feedback and transparency. The ORB-SLAM2 framework is adopted and modified for prior-based 3D tracking with four major modifications. First, the primitive 3D shape is used for fast initialization of the ORB-SLAM2 monocular mode. Second, a pseudo-segmentation strategy i

Read original source ↗ Open in workspace

recordType

paper

region

Global