DocumentCode :
2406588
Title :
Pose reconstruction of flexible instruments from endoscopic images using markers
Author :
Reilink, Rob ; Stramigioli, Stefano ; Misra, Sarthak
Author_Institution :
MIRA - Inst. for Biomed. Technol. & Tech. Med., Univ. of Twente, Enschede, Netherlands
fYear :
2012
fDate :
14-18 May 2012
Firstpage :
2938
Lastpage :
2943
Abstract :
A system is developed that can reconstruct the pose of flexible endoscopic instruments that are used in advanced flexible endoscopes using solely the endoscopic images. Four markers are placed on the instrument, whose positions are measured in the image. These measurements are compared to a three-dimensional rendered model of the instrument. The pseudo-inverse of the interaction matrix between the state of the model and the marker positions in the image is used to update the state such that the model will track the real instrument. An experiment was performed in which the instrument was moved inside a colon model, while the tip position was simultaneously measured with an electromagnetic tracking system. The root mean square errors of the position estimation were 2.3 mm, 2.2 mm and 1.7 mm in the horizontal (x), vertical (y) and away-from-camera (z) directions, respectively.
Keywords :
cameras; endoscopes; image reconstruction; matrix algebra; mean square error methods; medical image processing; medical robotics; object tracking; pose estimation; robot kinematics; away-from-camera direction; colon model; electromagnetic tracking system; endoscopic images; flexible endoscopic instruments; horizontal direction; instrument tracking; interaction matrix pseudoinverse; marker position estimation; model state; pose reconstruction; root mean square errors; tip position measurement; vertical direction; Cameras; Electromagnetics; Endoscopes; Instruments; Kinematics; Rendering (computer graphics); Tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ICRA.2012.6224631
Filename :
6224631
Link To Document :
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