Pose Reconstruction of Flexible Instruments from Endoscopic Images using Markers

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    A system is developed that can reconstruct the pose of flexible endoscopic instruments that are used in ad- vanced flexible endoscopes using solely the endoscopic images. Four markers are placed on the instrument, whose positions are measured in the image. These measurements are compared to a three-dimensional rendered model of the instrument. The pseudo-inverse of the interaction matrix between the state of the model and the marker positions in the image is used to update the state such that the model will track the real instrument. An experiment was performed in which the instrument was moved inside a colon model, while the tip position was simultaneously measured with an electromagnetic tracking system. The root mean square errors of the position estimation were 2.3 mm, 2.2 mm and 1.7 mm in the horizontal (x), vertical (y) and away-from-camera (z) directions, respectively.
    Original languageUndefined
    Title of host publicationProceedings of International Conference on Robotics and Automation (ICRA)
    Place of PublicationUSA
    Number of pages6
    ISBN (Print)978-1-4673-1404-6
    Publication statusPublished - 14 May 2012
    Event2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - St. Paul, United States
    Duration: 14 May 201218 May 2012

    Publication series

    PublisherIEEE Robotics and Automation Society


    Conference2012 IEEE International Conference on Robotics and Automation, ICRA 2012
    Abbreviated titleICRA
    Country/TerritoryUnited States
    CitySt. Paul


    • EWI-23062
    • METIS-296298
    • IR-84160

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