Three-dimensional pose reconstruction of flexible instruments from endoscopic images

Rob Reilink; Stefano Stramigioli; Sarthak Misra

doi:10.1109/IROS.2011.6094776

Three-dimensional pose reconstruction of flexible instruments from endoscopic images

Rob Reilink, Stefano Stramigioli, Sarthak Misra

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

14 Citations (Scopus)

15 Downloads (Pure)

Abstract

A position and orientation sensing system is developed for the feedback control of endoscopic instruments in advanced flexible endoscopes. The images that are taken by the endoscopic camera are used to match a kinematic model to the observed instrument. Using the pseudo-inverse of the Jacobian of the forward kinematics, the estimated state of the model is continuously updated so as to match feature points from the images to the model. An experiment was performed inside a colon model, in which reference markers with known locations were touched with the instrument. The root mean square position estimation errors were 1.7 mm, 1.2 mm and 3.6 mm in the horizontal (x), vertical (y), and away-from-camera (z) directions, respectively.

Original language	Undefined
Title of host publication	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Place of Publication	USA
Publisher	IEEE
Pages	2076-2082
Number of pages	7
ISBN (Print)	978-1-61284-454-1
DOIs	https://doi.org/10.1109/IROS.2011.6094776
Publication status	Published - 25 Sept 2011
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011 - San Francisco, United States Duration: 25 Sept 2011 → 30 Sept 2011 http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2011/IROS/www.iros2011.org/index.html

Publication series

Name
Publisher	IEEE Robotics and Automation Society
ISSN (Print)	2153-0858

Conference

Conference	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011
Abbreviated title	iros
Country/Territory	United States
City	San Francisco
Period	25/09/11 → 30/09/11
Internet address	http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2011/IROS/www.iros2011.org/index.html

Keywords

METIS-285092
EWI-21432
IR-79551

Access to Document

10.1109/IROS.2011.6094776

http://eprints.eemcs.utwente.nl/secure2/21432/01/06094776.pdf

Cite this

@inproceedings{340e779fbddb4d4786079287b4b3f8a3,

title = "Three-dimensional pose reconstruction of flexible instruments from endoscopic images",

abstract = "A position and orientation sensing system is developed for the feedback control of endoscopic instruments in advanced flexible endoscopes. The images that are taken by the endoscopic camera are used to match a kinematic model to the observed instrument. Using the pseudo-inverse of the Jacobian of the forward kinematics, the estimated state of the model is continuously updated so as to match feature points from the images to the model. An experiment was performed inside a colon model, in which reference markers with known locations were touched with the instrument. The root mean square position estimation errors were 1.7 mm, 1.2 mm and 3.6 mm in the horizontal (x), vertical (y), and away-from-camera (z) directions, respectively.",

keywords = "METIS-285092, EWI-21432, IR-79551",

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

note = "10.1109/IROS.2011.6094776 ; 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011 ; Conference date: 25-09-2011 Through 30-09-2011",

year = "2011",

month = sep,

day = "25",

doi = "10.1109/IROS.2011.6094776",

language = "Undefined",

isbn = "978-1-61284-454-1",

publisher = "IEEE",

pages = "2076--2082",

booktitle = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

address = "United States",

url = "http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2011/IROS/www.iros2011.org/index.html",

}

Reilink, R, Stramigioli, S & Misra, S 2011, Three-dimensional pose reconstruction of flexible instruments from endoscopic images. in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, USA, pp. 2076-2082, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, California, United States, 25/09/11. https://doi.org/10.1109/IROS.2011.6094776

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AU - Stramigioli, Stefano

AU - Misra, Sarthak

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PY - 2011/9/25

Y1 - 2011/9/25

N2 - A position and orientation sensing system is developed for the feedback control of endoscopic instruments in advanced flexible endoscopes. The images that are taken by the endoscopic camera are used to match a kinematic model to the observed instrument. Using the pseudo-inverse of the Jacobian of the forward kinematics, the estimated state of the model is continuously updated so as to match feature points from the images to the model. An experiment was performed inside a colon model, in which reference markers with known locations were touched with the instrument. The root mean square position estimation errors were 1.7 mm, 1.2 mm and 3.6 mm in the horizontal (x), vertical (y), and away-from-camera (z) directions, respectively.

AB - A position and orientation sensing system is developed for the feedback control of endoscopic instruments in advanced flexible endoscopes. The images that are taken by the endoscopic camera are used to match a kinematic model to the observed instrument. Using the pseudo-inverse of the Jacobian of the forward kinematics, the estimated state of the model is continuously updated so as to match feature points from the images to the model. An experiment was performed inside a colon model, in which reference markers with known locations were touched with the instrument. The root mean square position estimation errors were 1.7 mm, 1.2 mm and 3.6 mm in the horizontal (x), vertical (y), and away-from-camera (z) directions, respectively.

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