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2017 | Supplement | Chapter

Shape-Based Pose Estimation of Robotic Surgical Instruments

Authors : Daniel Wesierski, Sebastian Cygert

Published in: Computer Assisted and Robotic Endoscopy and Clinical Image-Based Procedures

Publisher: Springer International Publishing

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Abstract

We describe a detector of robotic instrument parts in image-guided surgery. The detector consists of a huge ensemble of scale-variant and pose-dedicated, rigid appearance templates. The templates, which are equipped with pose-related keypoints and segmentation masks, allow for explicit pose estimation and segmentation of multiple end-effectors as well as fine-grained non-maximum suppression. We train the templates by grouping examples of end-effector articulations, imaged at various viewpoints, in thus arising space of instrument shapes. Proposed shape-based grouping forms tight clusters of pose-specific end-effector appearance. Experimental results show that the proposed method can effectively estimate the end-effector pose and delineate its boundary while being trained with moderately sized data clusters. We then show that matching such huge ensemble of templates takes less than one second on commodity hardware.

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next chapter 3D Endoscope System Using Asynchronously Blinking Grid Pattern Projection for HDR Image Synthesis
Footnotes
1
Eklund, A., Dufort, P., Non-separable 2D, 3D, and 4D Filtering with CUDA.
 
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Metadata
Title
Shape-Based Pose Estimation of Robotic Surgical Instruments
Authors
Daniel Wesierski
Sebastian Cygert
Copyright Year
2017
Book
Computer Assisted and Robotic Endoscopy and Clinical Image-Based Procedures

Print ISBN: 978-3-319-67542-8

Electronic ISBN: 978-3-319-67543-5

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-67543-5_1

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