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Recording Hand-Held Laparoscopic Instrument Motion in the Operating Room: Magnetometer-Free Fusion of Inertial, Range and Visual Sensing

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Most minimally invasive procedures are still performed with hand-held laparoscopic instruments, yet only the endoscopic video is retained; the instrument motion that expresses surgical skill, and that could support skill assessment and robot learning, is lost. Pose from video alone remains millimeters to centimeters off, and an instrument-mounted inertial measurement unit (IMU) cannot rely on its magnetometer, whose field changed with tool pose and between sessions in our measurements. We present a surgical instrument-state logger that clips onto a conventional instrument without modifying the

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