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3D Pose Estimation of Articulated Instruments in Robotic Minimally Invasive Surgery

Allan, M; Ourselin, S; Hawkes, DJ; Kelly, JD; Stoyanov, D; (2018) 3D Pose Estimation of Articulated Instruments in Robotic Minimally Invasive Surgery. IEEE Transactions on Medical Imaging , 37 (5) 10.1109/TMI.2018.2794439. Green open access

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Abstract

Estimating the 3D pose of instruments is an important part of robotic minimally invasive surgery (RMIS) for automation of basic procedures as well as providing safety features such as virtual fixtures. Image based methods of 3D pose estimation provide a non-invasive low cost solution compared with methods that incorporate external tracking systems. In this work we extend our recent work in estimating rigid 3D pose with silhouette and optical flow based features to incorporate the articulated degrees of freedom (DOF) of robotic instruments within a gradient based optimization framework. Validation of the technique is provided with a calibrated ex-vivo study from the DVRK robotic system where we perform quantitative analysis on the errors each DOF of our tracker. Additionally we perform several detailed comparisons with recently published techniques that combine visual methods with kinematic data acquired from the joint encoders. Our experiments demonstrate that our method is competitively accurate while relying solely on image data.

Type: Article
Title: 3D Pose Estimation of Articulated Instruments in Robotic Minimally Invasive Surgery
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/TMI.2018.2794439
Publisher version: http://doi.org/10.1109/TMI.2018.2794439
Language: English
Additional information: This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
Keywords: Instruments, Solid modeling, Robots, Three-dimensional displays, Surgery, Cameras, Transforms
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Targeted Intervention
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10044499
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