Three-dimensional pose reconstruction of flexible instruments from endoscopic images

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    9 Citations (Scopus)

    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 languageUndefined
    Title of host publication2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages2076-2082
    Number of pages7
    ISBN (Print)978-1-61284-454-1
    DOIs
    Publication statusPublished - 25 Sep 2011
    Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011 - San Francisco, United States
    Duration: 25 Sep 201130 Sep 2011
    http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2011/IROS/www.iros2011.org/index.html

    Publication series

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

    Conference

    Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011
    Abbreviated titleiros
    CountryUnited States
    CitySan Francisco
    Period25/09/1130/09/11
    Internet address

    Keywords

    • METIS-285092
    • EWI-21432
    • IR-79551

    Cite this

    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) (pp. 2076-2082). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/IROS.2011.6094776