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Related Experiment Video

Updated: May 17, 2026

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
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Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Published on: April 21, 2023

3D position estimation of flexible instruments: marker-less and marker-based methods.

Rob Reilink1, Stefano Stramigioli, Sarthak Misra

  • 1MIRA-Institute for Biomedical Technology and Technical Medicine, University of Twente, P.O. Box 217, 7500 AE, Enschede, The Netherlands. r.reilink@utwente.nl

International Journal of Computer Assisted Radiology and Surgery
|November 1, 2012
PubMed
Summary

Both marker-based and marker-less pose estimation algorithms enable accurate flexible endoscopic instrument control. These methods are suitable for intuitive robotic-assisted procedures, enhancing physician capabilities.

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Area of Science:

  • Medical Robotics
  • Surgical Navigation
  • Computer-Aided Surgery

Background:

  • Accurate control of flexible endoscopic instruments is crucial for minimally invasive procedures.
  • Pose estimation algorithms can interpret endoscopic images to guide instrument movement.

Purpose of the Study:

  • To compare the accuracy of marker-less and marker-based pose estimation algorithms for flexible endoscopic instrument control.
  • To evaluate the suitability of these algorithms for robotic-assisted endoscopic surgery.

Main Methods:

  • Two pose estimation algorithms (marker-less and marker-based) were developed and compared.
  • Algorithms utilized kinematic models updated by marker or feature point positions in endoscopic images.
  • Performance was evaluated in a colon model using manual instrument operation and X-ray imaging for ground-truth reference.

Related Experiment Videos

Last Updated: May 17, 2026

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
09:41

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Published on: April 21, 2023

Main Results:

  • The marker-less method yielded RMS errors of 1.5 mm (horizontal), 1.6 mm (vertical), and 1.8 mm (away-from-camera).
  • The marker-based method achieved RMS errors of 1.1 mm (horizontal), 1.7 mm (vertical), and 1.5 mm (away-from-camera).
  • Statistical analysis showed no significant difference in accuracy between the two methods.

Conclusions:

  • Both marker-less and marker-based pose estimation algorithms are effective for precise flexible endoscopic instrument control.
  • These algorithms facilitate intuitive robotic control, enabling physicians to perform advanced endoscopic procedures more effectively.