Image-based pose estimation of an endoscopic instrument
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...
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| creator | Reilink, R. Stramigioli, S. Misra, S. |
| description | 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. |
| doi_str_mv | 10.1109/ICRA.2012.6224923 |
| format | Conference Proceeding |
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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. 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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.</description><subject>Biomedical measurements</subject><subject>Endoscopes</subject><subject>Estimation</subject><subject>Instruments</subject><subject>Rendering (computer graphics)</subject><subject>Surgery</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>9781467314039</isbn><isbn>146731403X</isbn><isbn>9781467314046</isbn><isbn>1467315788</isbn><isbn>1467314056</isbn><isbn>9781467314053</isbn><isbn>9781467315784</isbn><isbn>1467314048</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVkMtKxDAUhuMNrOM8gLjJC6Sek2uzHIqjhQFBFNwNaXoqEXthUhe-vYKzcfUvPvj4-Bm7QSgRwd819fOmlICytFJqL9UJW3tXobZOoQZtT1khjXMCKvd29o8pf84KBANCO-kv2VXOHwCglLUFc80Q3km0IVPH5ykTp7ykISxpGvnU8zByGrspx2lOkacxL4evgcblml304TPT-rgr9rq9f6kfxe7poak3O5EkVosIpqIgFVjjlEfXKgvYeog-dDqGTkGFMZAzNnQBW917Y7S2MRrrQTlp1Ird_nkTEe3nw2_a4Xt__ED9ANzLSls</recordid><startdate>20120101</startdate><enddate>20120101</enddate><creator>Reilink, R.</creator><creator>Stramigioli, S.</creator><creator>Misra, S.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>20120101</creationdate><title>Image-based pose estimation of an endoscopic instrument</title><author>Reilink, R. ; Stramigioli, S. ; Misra, S.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i218t-a58ea2306573917b3601b90c9ad4cad3081cae756ada1b4f955446cc569037253</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Biomedical measurements</topic><topic>Endoscopes</topic><topic>Estimation</topic><topic>Instruments</topic><topic>Rendering (computer graphics)</topic><topic>Surgery</topic><toplevel>online_resources</toplevel><creatorcontrib>Reilink, R.</creatorcontrib><creatorcontrib>Stramigioli, S.</creatorcontrib><creatorcontrib>Misra, S.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Reilink, R.</au><au>Stramigioli, S.</au><au>Misra, S.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Image-based pose estimation of an endoscopic instrument</atitle><btitle>2012 IEEE International Conference on Robotics and Automation</btitle><stitle>ICRA</stitle><date>2012-01-01</date><risdate>2012</risdate><spage>3555</spage><epage>3556</epage><pages>3555-3556</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>9781467314039</isbn><isbn>146731403X</isbn><eisbn>9781467314046</eisbn><eisbn>1467315788</eisbn><eisbn>1467314056</eisbn><eisbn>9781467314053</eisbn><eisbn>9781467315784</eisbn><eisbn>1467314048</eisbn><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.</abstract><pub>IEEE</pub><doi>10.1109/ICRA.2012.6224923</doi><tpages>2</tpages><oa>free_for_read</oa></addata></record> |
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| ispartof | 2012 IEEE International Conference on Robotics and Automation, 2012, p.3555-3556 |
| issn | 1050-4729 2577-087X |
| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Biomedical measurements Endoscopes Estimation Instruments Rendering (computer graphics) Surgery |
| title | Image-based pose estimation of an endoscopic instrument |
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