ICRA 2012 Paper Abstract


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 June 20, 2018

Keywords Medical Robots and Systems, Visual Servoing


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.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2018 PaperCept, Inc.
Page generated 2018-06-20  23:34:16 PST  Terms of use