Single-Shot Pose Estimation of Surgical Robot Instruments' Shafts from Monocular Endoscopic Images

by   Masakazu Yoshimura, et al.

Surgical robots are used to perform minimally invasive surgery and alleviate much of the burden imposed on surgeons. Our group has developed a surgical robot to aid in the removal of tumors at the base of the skull via access through the nostrils. To avoid injuring the patients, a collision-avoidance algorithm that depends on having an accurate model for the poses of the instruments' shafts is used. Given that the model's parameters can change over time owing to interactions between instruments and other disturbances, the online estimation of the poses of the instrument's shaft is essential. In this work, we propose a new method to estimate the pose of the surgical instruments' shafts using a monocular endoscope. Our method is based on the use of an automatically annotated training dataset and an improved pose-estimation deep-learning architecture. In preliminary experiments, we show that our method can surpass state of the art vision-based marker-less pose estimation techniques (providing an error decrease of 55 pitch, and 69


page 1

page 2

page 4

page 6


MBAPose: Mask and Bounding-Box Aware Pose Estimation of Surgical Instruments with Photorealistic Domain Randomization

Surgical robots are controlled using a priori models based on robots' ge...

AutoSNAP: Automatically Learning Neural Architectures for Instrument Pose Estimation

Despite recent successes, the advances in Deep Learning have not yet bee...

Simultaneous Recognition and Pose Estimation of Instruments in Minimally Invasive Surgery

Detection of surgical instruments plays a key role in ensuring patient s...

Ablation Study on Features in Learning-based Joints Calibration of Cable-driven Surgical Robots

With worldwide implementation, millions of surgeries are assisted by sur...

A Kinematic Bottleneck Approach For Pose Regression of Flexible Surgical Instruments directly from Images

3-D pose estimation of instruments is a crucial step towards automatic s...

An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images

Background. Flexible bendable instruments are key tools for performing s...

Automatic Tip Detection of Surgical Instruments in Biportal Endoscopic Spine Surgery

Some endoscopic surgeries require a surgeon to hold the endoscope with o...

Please sign up or login with your details

Forgot password? Click here to reset