摘要详情

ID / 提交时间

50 / 2019-07-09 11:23:39

标题

Computer vision-based pose estimating method for flexible ureteroscope

关键字

flexible ureteroscope,computer vision,pose estimation

主题及专题

全体主题 > Medical diagnosis and surgical robotics

状态

摘要录用

作者

Zengyu Zhang / Tianjin University, School of Mechanical Engineering

Jianmin Li / Tianjin University, School of Mechanical Engineering

Jianchang Zhao / Tianjin University, School of Mechanical Engineering

He Su / Tianjin University, School of Mechanical Engineering

Shuxin Wang / Tianjin University, School of Mechanical Engineering

摘要

Flexible ureteroscopy is a common method for urolithiasis, as it can easily enter the kidney through the ureter. However, motion deviation of flexible ureteroscope is happened during operation due to resistance of ureter. In order to calibrate the motion deviation, estimating the pose information for the end of the flexible ureteroscope is necessary.In this paper, a novel method based on the computer vision to estimate the pose changing for the end of the flexible ureteroscope was proposed. The proposed method employing extracting features, matching features, and computing transformation matrix to estimate the pose changing. And the results proved that the proposed method is feasible.