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 |
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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 | |
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 |
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Abbreviated title | ICRA |
Country | United States |
City | St. Paul |
Period | 14/05/12 → 18/05/12 |