A Method of Acquiring Surgical Instrument Trajectories in Surgery Based on Micro Checkerboard Markers

This paper proposes a binocular vision positioning method using micro checkerboard markers for identifying the posture and position of surgical instruments during surgery.Compared to existing methods that use optical spheres for instrument localization, the approach based on micro checkerboard markers requires minimal modification to conventional surgical instruments.It is applicable to instruments such as scalpels, needle holders, and hemostatic forceps, which are small in size, have high similarity, and are easily obscured during surgery.Even when the surface of target surgical instrument is mostly obscured, this method can precisely identify and locate the instrument based on only 4 marker points.