Pose estimation via structure-depth information from monocular endoscopy images sequence

Author:

Liu Shiyuan1,Fan Jingfan,Zang Liugeng,Yang Yun2,Fu Tianyu3,Song Hong3,Wang Yongtian,Yang Jian

Affiliation:

1. China Center for Information Industry Development

2. Beijing Friendship Hospital, Capital Medical University

3. Beijing Institute of Technology

Abstract

Image-based endoscopy pose estimation has been shown to significantly improve the visualization and accuracy of minimally invasive surgery (MIS). This paper proposes a method for pose estimation based on structure-depth information from a monocular endoscopy image sequence. Firstly, the initial frame location is constrained using the image structure difference (ISD) network. Secondly, endoscopy image depth information is used to estimate the pose of sequence frames. Finally, adaptive boundary constraints are used to optimize continuous frame endoscopy pose estimation, resulting in more accurate intraoperative endoscopy pose estimation. Evaluations were conducted on publicly available datasets, with the pose estimation error in bronchoscopy and colonoscopy datasets reaching 1.43 mm and 3.64 mm, respectively. These results meet the real-time requirements of various scenarios, demonstrating the capability of this method to generate reliable pose estimation results for endoscopy images and its meaningful applications in clinical practice. This method enables accurate localization of endoscopy images during surgery, assisting physicians in performing safer and more effective procedures.

Funder

National Key Research and Development Program of China

Beijing Municipal Natural Science Foundation

National Natural Science Foundation of China

Publisher

Optica Publishing Group

Subject

Atomic and Molecular Physics, and Optics,Biotechnology

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3