naa a22 4500 51080733X CHVBK 20180411083424.0 cr unu---uuuuu 180411e20130501xx s 000 0 eng 10.1007/s11548-012-0795-1 doi (NATIONALLICENCE)springer-10.1007/s11548-012-0795-1 3D position estimation of flexible instruments: marker-less and marker-based methods [Elektronische Daten] [Rob Reilink, Stefano Stramigioli, Sarthak Misra] Purpose 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 1.8mm in the horizontal, vertical, and away-from-camera directions, respectively. The marker-based method achieves an RMS error of 1.1, 1.7, and 1.5mm 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. CARS, 2012 Computer-assisted surgery nationallicence Flexible endoscopy nationallicence Medical robotics nationallicence Image-guided surgery nationallicence Minimally invasive surgery nationallicence Reilink Rob MIRA—Institute for Biomedical Technology and Technical Medicine, University of Twente, P.O. Box 217, 7500 AE, Enschede, The Netherlands aut Stramigioli Stefano MIRA—Institute for Biomedical Technology and Technical Medicine, University of Twente, P.O. Box 217, 7500 AE, Enschede, The Netherlands aut Misra Sarthak MIRA—Institute for Biomedical Technology and Technical Medicine, University of Twente, P.O. Box 217, 7500 AE, Enschede, The Netherlands aut International Journal of Computer Assisted Radiology and Surgery Springer-Verlag 8/3(2013-05-01), 407-417 1861-6410 8:3<407 2013 8 11548 https://doi.org/10.1007/s11548-012-0795-1 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s11548-012-0795-1 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Reilink Rob MIRA—Institute for Biomedical Technology and Technical Medicine, University of Twente, P.O. Box 217, 7500 AE, Enschede, The Netherlands aut NATIONALLICENCE 700 1- Stramigioli Stefano MIRA—Institute for Biomedical Technology and Technical Medicine, University of Twente, P.O. Box 217, 7500 AE, Enschede, The Netherlands aut NATIONALLICENCE 700 1- Misra Sarthak MIRA—Institute for Biomedical Technology and Technical Medicine, University of Twente, P.O. Box 217, 7500 AE, Enschede, The Netherlands aut NATIONALLICENCE 773 0- International Journal of Computer Assisted Radiology and Surgery Springer-Verlag 8/3(2013-05-01), 407-417 1861-6410 8:3<407 2013 8 11548 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer