Robust 3D Pose Estimation of a Laparoscopic Instrument with three Landmarks

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dc.contributor.authorCarletti, Marcoen_US
dc.contributor.authorZerbato, Davideen_US
dc.contributor.authorDall'Alba, Diegoen_US
dc.contributor.authorCalanca, Andreaen_US
dc.contributor.authorFiorini, Paoloen_US
dc.contributor.editorAndrea Giachetti and Silvia Biasotti and Marco Tarinien_US
dc.date.accessioned2015-10-14T06:02:18Z
dc.date.available2015-10-14T06:02:18Z
dc.date.issued2015en_US
dc.description.abstractKnowing surgeon movements during laparoscopic training may provide useful data to speed up the learning process by means of instantaneous error correction and performance evaluation. The first step toward this knowledge is the identification of laparoscopic tool pose in the training environment. In this paper we propose a method to estimate in real time the 3D pose of laparoscopic instruments using a standard camera and three non invasive colored markers applied on the tool stem. The proposed method takes advantage of closed form solution for the problem which speeds up the computation and improves the precision and accuracy of the results. In addition the method handles occlusions even without any marker tracking algorithm thanks to the automatic identification of the insertion point. The method is evaluated in terms of precision, accuracy and real time execution. Results show that it can be effectively used in common training scenarios.en_US
dc.description.sectionheaders3D Reconstructionen_US
dc.description.seriesinformationSmart Tools and Apps for Graphics - Eurographics Italian Chapter Conferenceen_US
dc.identifier.doi10.2312/stag.20151287en_US
dc.identifier.isbn978-3-905674-97-2en_US
dc.identifier.pages7-14en_US
dc.identifier.urihttps://doi.org/10.2312/stag.20151287en_US
dc.publisherThe Eurographics Associationen_US
dc.titleRobust 3D Pose Estimation of a Laparoscopic Instrument with three Landmarksen_US
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