Image-based pose estimation of an endoscopic instrument

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

3555

Lastpage

3556

Abstract

This video shows a system that estimates the pose of a flexible endoscopic instrument, based on the endoscopic images. A three-dimensional rendering of the instrument is matched to the actual instrument that is observed through the endoscopic camera. This system was evaluated in an anatomical model of a colon. The estimated position of the tip of the instrument was compared to measurements performed with an electromagnetic tracker. The errors of the position estimation were 2 mm, 2.2 mm and 1.7 mm in the horizontal (x), vertical (y) and away-from-camera (z) directions, respectively.

Keywords

cameras; endoscopes; medical image processing; pose estimation; rendering (computer graphics); solid modelling; colon anatomical model; electromagnetic tracker; endoscopic camera; endoscopic images; flexible endoscopic instrument; image-based pose estimation; position estimation; three-dimensional rendering; Biomedical measurements; Endoscopes; Estimation; Instruments; Rendering (computer graphics); Surgery;

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.2012.6224923

Filename

6224923