Int J Comput Assist Radiol Surg - 3D position estimation of flexible instruments: marker-less and marker-based methods.

Tópicos

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Resumo

RPOSE: Endoscopic images can be used to allow accurate flexible endoscopic instrument control. This can be implemented using a pose estimation algorithm, which estimates the actual instrument pose from the endoscopic images.METHODS: In this paper, two pose estimation algorithms are compared: a marker-less and a marker-based method. The marker-based method uses the positions of three markers in the endoscopic image to update the state of a kinematic model of the endoscopic instrument. The marker-less method works similarly, but uses the positions of three feature points instead of the positions of markers. The algorithms are evaluated inside a colon model. The endoscopic instrument is manually operated, while an X-ray imager is used to obtain a ground-truth reference position.RESULTS: The marker-less method achieves an RMS error of 1.5, 1.6, and 1.8 mm in the horizontal, vertical, and away-from-camera directions, respectively. The marker-based method achieves an RMS error of 1.1, 1.7, and 1.5 mm in the horizontal, vertical, and away-from-camera directions, respectively. The differences between the two methods are not found to be statistically significant.CONCLUSIONS: The proposed algorithms are suitable to realize accurate robotic control of flexible endoscopic instruments, enabling the physician to perform advanced procedures in an intuitive way.

Resumo Limpo

rpose endoscop imag can use allow accur flexibl endoscop instrument control can implement use pose estim algorithm estim actual instrument pose endoscop imagesmethod paper two pose estim algorithm compar markerless markerbas method markerbas method use posit three marker endoscop imag updat state kinemat model endoscop instrument markerless method work similar use posit three featur point instead posit marker algorithm evalu insid colon model endoscop instrument manual oper xray imag use obtain groundtruth refer positionresult markerless method achiev rms error mm horizont vertic awayfromcamera direct respect markerbas method achiev rms error mm horizont vertic awayfromcamera direct respect differ two method found statist significantconclus propos algorithm suitabl realiz accur robot control flexibl endoscop instrument enabl physician perform advanc procedur intuit way

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