In order to solve the shortcomings of existing target tracking algorithms applied in MIS,this invention does some optimization based on TLST model and proposes a novel target tracking algorithm combined with KCF and region growing algorithm.Compared with the traditional TLST,our optimized multi-model TLST reduces the complexity of computation and has a better performance on dealing with singular point.Then,through combining KCF and region growing algorithm,the rigid surgical tool can be detected more accurately.Besides,this invention proposes a novel feature extraction which can be optionally used to do further examination.