Image-based pose estimation of an endoscopic instrument

Rob Reilink*, Stefano Stramigioli, Sarthak Misra

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    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.

    Original languageEnglish
    Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
    PublisherIEEE
    Pages3555-3556
    Number of pages2
    ISBN (Electronic)978-1-4673-1405-3
    ISBN (Print)9781467314039
    DOIs
    Publication statusPublished - 1 Jan 2012
    Event2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - St. Paul, United States
    Duration: 14 May 201218 May 2012

    Conference

    Conference2012 IEEE International Conference on Robotics and Automation, ICRA 2012
    Abbreviated titleICRA
    CountryUnited States
    CitySt. Paul
    Period14/05/1218/05/12

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