Tool tracking systems, methods and computer products for image guided surgery

A non-transitory computer usable medium for use with a tool tracking system comprising:

• (a) non-transitory computer readable code programmed to receive images of video frames from at least one camera;
• (b) non-transitory computer readable code programmed to receive kinematics information related to robotic movement of a robotic instrument, determine mechanical pose information from the kinematics information, and synthesize model pose information of a computer aided design model of the robotic instrument using the mechanical pose information;
• (c) non-transitory computer readable code programmed to determine video pose information of the robotic instrument using the synthesized model pose information as a pattern for pattern searching within the images;
• and
• (d) non-transitory computer readable code programmed to provide a state-space model of a sequence of states of corrected kinematics information for accurate pose information of the robotic instrument, the state-space model to receive raw kinematics information of mechanical pose information and to adaptively fuse the mechanical pose information and the video pose information together to generate the sequence of states of the corrected kinematics information for the robotic instrument.