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Paper WeC05.6

Reilink, Rob (University of Twente), Stramigioli, Stefano (University of Twente), Misra, Sarthak (University of Twente)

Pose Reconstruction of Flexible Instruments from Endoscopic Images Using Markers

Scheduled for presentation during the Regular Session "Image-Guided Interventions" (WeC05), Wednesday, May 16, 2012, 15:45−16:00, Meeting Room 5 (Ska)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Medical Robots and Systems, Visual Servoing

Abstract

A system is developed that can reconstruct the pose of flexible endoscopic instruments that are used in advanced 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.

 

 

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