Image-based pose estimation of an endoscopic instrument

Rob Reilink; Stefano Stramigioli; Sarthak Misra

doi:10.1109/ICRA.2012.6224923

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 proceeding › Conference contribution › Academic › peer-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 language	English
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	IEEE
Pages	3555-3556
Number of pages	2
ISBN (Electronic)	978-1-4673-1405-3
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6224923
Publication status	Published - 1 Jan 2012
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - St. Paul, United States Duration: 14 May 2012 → 18 May 2012

Conference

Conference	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Abbreviated title	ICRA
Country/Territory	United States
City	St. Paul
Period	14/05/12 → 18/05/12

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10.1109/ICRA.2012.6224923

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@inproceedings{56f6cce14aeb4bfaaeaa47eb790a09ac,

title = "Image-based pose estimation of an endoscopic instrument",

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.",

author = "Rob Reilink and Stefano Stramigioli and Sarthak Misra",

year = "2012",

month = jan,

day = "1",

doi = "10.1109/ICRA.2012.6224923",

language = "English",

isbn = "9781467314039",

pages = "3555--3556",

booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",

publisher = "IEEE",

address = "United States",

note = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012 , ICRA ; Conference date: 14-05-2012 Through 18-05-2012",

}

Reilink, R, Stramigioli, S & Misra, S 2012, Image-based pose estimation of an endoscopic instrument. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224923, IEEE, pp. 3555-3556, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 , St. Paul, Minnesota, United States, 14/05/12. https://doi.org/10.1109/ICRA.2012.6224923

TY - GEN

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AU - Reilink, Rob

AU - Stramigioli, Stefano

AU - Misra, Sarthak

PY - 2012/1/1

Y1 - 2012/1/1

N2 - 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.

AB - 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.

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U2 - 10.1109/ICRA.2012.6224923

DO - 10.1109/ICRA.2012.6224923

M3 - Conference contribution

AN - SCOPUS:84864422854

SN - 9781467314039

SP - 3555

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BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012

PB - IEEE

T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012

Y2 - 14 May 2012 through 18 May 2012

ER -

Image-based pose estimation of an endoscopic instrument

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