ORBSLAM combined with electromagnetic tracking in duodenum 3D reconstruction

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	ORBSLAM combined with electromagnetic tracking in duodenum 3D reconstruction
	Zou Y(邹研)2,4,5; Yang YM(杨永明)2,3,4; Wang CY(王重阳)2,3,4; Huang YP(黄勇平)1,2,4; Chang L(常丽)5; Jiang, Zhenming 1,2,4; Liu H(刘浩)2,3,4
	2021
会议日期	July 27-31, 2021
会议地点	Jiaxing, China
页码	717-722
英文摘要	Accurate three-dimensional reconstruction of duodenum is very important in the navigation of ERCP surgery, which helps to improve the success rate of chathete-rization and reduce the difficulty of surgery. Due to the narrow anatomical space of the duodenum, the structure is tortuous, the surface is smooth with few texture features. The existing three-dimensional reconstruction and positioning methods still cannot achieve an effective performance. In this paper, the combination of electromagnetic sensing and ORBSLAM is used for the three-dimensional reconstruction of the duodenal biliary and pancreatic duct. First, we use the accurate tracking performance of electromagnetic sensors to improve the effectiveness of SLAM mapping. Second, we replaced the pose estimation of the camera in SLAM with electromagnetic sensing real-Time pose, which improved the real-Time performance of 3D reconstruction. The effectiveness and real-Time performance of the algorithm in the three-dimensional reconstruction of the duodenum, biliary and pancreatic regions are verified through high-simulation models and real clinical video sequences. © 2021 IEEE.
源文献作者	IEEE Robotics and Automation Society ; Shenyang Institute of Automation CAS ; Shenzhen Academy of Robotics
产权排序	1
会议录	2021 IEEE 11th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2642-6633
ISBN号	978-1-6654-2527-8
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29940]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Liu H(刘浩)
作者单位	1.School of Fundamental Sciences, China Medical University, Shenyang, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 3.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 5.School of Information Science and Engineering, Shenyang University of Technology, Shenyang, China
推荐引用方式 GB/T 7714	Zou Y,Yang YM,Wang CY,et al. ORBSLAM combined with electromagnetic tracking in duodenum 3D reconstruction[C]. 见:. Jiaxing, China. July 27-31, 2021.