ICRA 2012 Paper Abstract

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Paper WeD09.17

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

Image-Based Pose Estimation of an Endoscopic Instrument

Scheduled for presentation during the Video Session "Video Session" (WeD09), Wednesday, May 16, 2012, 17:50−17:55, Meeting Room 9 (Sa)

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 October 24, 2017

Keywords Medical Robots and Systems, Visual Servoing

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.

 

 

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