Three-dimensional pose reconstruction of flexible instruments from endoscopic images


Reilink, Rob and Stramigioli, Stefano and Misra, Sarthak (2011) Three-dimensional pose reconstruction of flexible instruments from endoscopic images. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, 25-30 September 2011, San Francisco, CA, USA (pp. pp. 2076-2082).

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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.
Item Type:Conference or Workshop Item
Copyright:© 2011 IEEE
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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