Adaptive 3D pose computation of suturing needle using constraints from static monocular image feedback

Fangxun Zhong; David Navarro Alarcon; Zerui Wang; Yun Hui Liu; Tianxue Zhang; Hiu Man Yip; Hesheng Wang

doi:10.1109/IROS.2016.7759812

Adaptive 3D pose computation of suturing needle using constraints from static monocular image feedback

Fangxun Zhong, David Navarro Alarcon, Zerui Wang, Yun Hui Liu, Tianxue Zhang, Hiu Man Yip, Hesheng Wang

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

7 Citations (Scopus)

Abstract

In this paper, we address the problem of the image-based 3D pose computation of a semi-circle suturing needle using monocular image feedback for laparoscopy. We propose a constrained two-degree-of-freedom (2-DOF) geometrybased modelling method to parametrise the needle's 6-DOF pose, including depth information. The modelling solely relies on the simultaneous observation of the needle's apparent tip and junction. No external markers are needed for extra constraints. An adaptive controller combining gradient descent and vectorflow method is introduced to iteratively guide the needle's initial guessing pose to its real pose by minimizing image-based position errors. Experiments have been conducted using both numerical simulations and simulated laparoscopic scenarios to evaluate the performance of the algorithm.

Original language	English
Title of host publication	IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	5521-5526
Number of pages	6
Volume	2016-November
ISBN (Electronic)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759812
Publication status	Published - 28 Nov 2016
Externally published	Yes
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country/Territory	Korea, Republic of
City	Daejeon
Period	9/10/16 → 14/10/16

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

More information

10.1109/IROS.2016.7759812

Cite this

Zhong, F., Navarro Alarcon, D., Wang, Z., Liu, Y. H., Zhang, T., Yip, H. M., & Wang, H. (2016). Adaptive 3D pose computation of suturing needle using constraints from static monocular image feedback. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 5521-5526). [7759812] IEEE. https://doi.org/10.1109/IROS.2016.7759812

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title = "Adaptive 3D pose computation of suturing needle using constraints from static monocular image feedback",

abstract = "In this paper, we address the problem of the image-based 3D pose computation of a semi-circle suturing needle using monocular image feedback for laparoscopy. We propose a constrained two-degree-of-freedom (2-DOF) geometrybased modelling method to parametrise the needle's 6-DOF pose, including depth information. The modelling solely relies on the simultaneous observation of the needle's apparent tip and junction. No external markers are needed for extra constraints. An adaptive controller combining gradient descent and vectorflow method is introduced to iteratively guide the needle's initial guessing pose to its real pose by minimizing image-based position errors. Experiments have been conducted using both numerical simulations and simulated laparoscopic scenarios to evaluate the performance of the algorithm.",

author = "Fangxun Zhong and {Navarro Alarcon}, David and Zerui Wang and Liu, {Yun Hui} and Tianxue Zhang and Yip, {Hiu Man} and Hesheng Wang",

year = "2016",

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doi = "10.1109/IROS.2016.7759812",

language = "English",

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booktitle = "IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

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Zhong, F, Navarro Alarcon, D, Wang, Z, Liu, YH, Zhang, T, Yip, HM & Wang, H 2016, Adaptive 3D pose computation of suturing needle using constraints from static monocular image feedback. in IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2016-November, 7759812, IEEE, pp. 5521-5526, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759812

Adaptive 3D pose computation of suturing needle using constraints from static monocular image feedback. / Zhong, Fangxun; Navarro Alarcon, David; Wang, Zerui et al.
IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November IEEE, 2016. p. 5521-5526 7759812.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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Adaptive 3D pose computation of suturing needle using constraints from static monocular image feedback

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