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We describe a detector of robotic instrument parts in imageguided surgery. The detector consists of a huge ensemble of scale-variant and pose-dedicated, rigid appearance templates. The templates, which are equipped with pose-related keypoints and segmentation masks, allow for explicit pose estimation and segmentation of multiple end-effectors as well as fine-grained non-maximum suppression. We train the templates by grouping examples of end-effector articulations, imaged at various viewpoints, in thus arising space of instrument shapes. Proposed shapebased grouping forms tight clusters of pose-specific end-effector appearance. Experimental results show that the proposed method can effectively estimate the end-effector pose and delineate its boundary while being trained with moderately sized data clusters. We then show that matching such huge ensemble of templates takes less than one second on commodity hardware.

Computer Assisted and Robotic Endoscopy and Clinical Image-Based Procedures