Surgical tool tracking is an important key functionality for many high-level tasks such as the visual guidance of surgical instruments or automated camera control. Readings from robot encoders and the kinematic chain are usually error prone in this kind of complex setup, but still allow for a coarse pose estimation of the instruments in image space. This information can be utilized to (re-)init...

Article history: Received 26 July 2007 Received in revised form 16 June 2008 Accepted 28 August 2008

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