Weakly Supervised Pose Estimation of Surgical Instrument from a Single Endoscopic Image

doi:10.3390/s24113355

	Weakly Supervised Pose Estimation of Surgical Instrument from a Single Endoscopic Image
	Hu, Lihua 1; Feng, Shida 1,2; Wang, Bo2
发表期刊	SENSORS
	2024-06-01
卷号	24 期号:11 页码:14
通讯作者	Wang, Bo(bo.wang@ia.ac.cn)
摘要	Instrument pose estimation is a key demand in computer-aided surgery, and its main challenges lie in two aspects: Firstly, the difficulty of obtaining stable corresponding image feature points due to the instruments' high refraction and complicated background, and secondly, the lack of labeled pose data. This study aims to tackle the pose estimation problem of surgical instruments in the current endoscope system using a single endoscopic image. More specifically, a weakly supervised method based on the instrument's image segmentation contour is proposed, with the effective assistance of synthesized endoscopic images. Our method consists of the following three modules: a segmentation module to automatically detect the instrument in the input image, followed by a point inference module to predict the image locations of the implicit feature points of the instrument, and a point back-propagatable Perspective-n-Point module to estimate the pose from the tentative 2D-3D corresponding points. To alleviate the over-reliance on point correspondence accuracy, the local errors of feature point matching and the global inconsistency of the corresponding contours are simultaneously minimized. Our proposed method is validated with both real and synthetic images in comparison with the current state-of-the-art methods.
关键词	6D pose estimation weakly supervised learning back-propagatable PnP
DOI	10.3390/s24113355
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China
项目资助者	National Natural Science Foundation of China
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
WOS类目	Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:001245408000001
出版者	MDPI
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/58746
专题	多模态人工智能系统全国重点实验室_机器人视觉
通讯作者	Wang, Bo
作者单位	1.Taiyuan Univ Sci & Technol, Coll Comp Sci & Technol, Taiyuan 030024, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Hu, Lihua,Feng, Shida,Wang, Bo. Weakly Supervised Pose Estimation of Surgical Instrument from a Single Endoscopic Image[J]. SENSORS,2024,24(11):14.
APA	Hu, Lihua,Feng, Shida,&Wang, Bo.(2024).Weakly Supervised Pose Estimation of Surgical Instrument from a Single Endoscopic Image.SENSORS,24(11),14.
MLA	Hu, Lihua,et al."Weakly Supervised Pose Estimation of Surgical Instrument from a Single Endoscopic Image".SENSORS 24.11(2024):14.