Tianjin International Conference on Biomaterials，Bio-Design and Manufacturing (BDMC2019)

50 / 2019-07-09 11:23:39

Computer vision-based pose estimating method for flexible ureteroscope

flexible ureteroscope,computer vision,pose estimation

Plenary track > Medical diagnosis and surgical robotics

Flexible ureteroscopy is a common method for urolithiasis, as it can easily enter the kidney through the ureter. However, motion deviation of flexible ureteroscope is happened during operation due to resistance of ureter. In order to calibrate the motion deviation, estimating the pose information for the end of the flexible ureteroscope is necessary.In this paper, a novel method based on the computer vision to estimate the pose changing for the end of the flexible ureteroscope was proposed. The proposed method employing extracting features, matching features, and computing transformation matrix to estimate the pose changing. And the results proved that the proposed method is feasible.