Title :
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
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;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224923
