Piecewise-rigid 2D-3D registration for pose estimation of snake-like manipulator using an intraoperative x-ray projection.
Yoshito OtakeRyan J. MurphyMichael D. M. KutzerRussell Highsmith TaylorMehran ArmandPublished in: Medical Imaging: Image-Guided Procedures (2014)
Keyphrases
- pose estimation
- intraoperative
- x ray
- digitally reconstructed radiographs
- degrees of freedom
- projection images
- intra operatively
- three dimensional
- image guided
- clinical applications
- d objects
- computer vision
- pre operative
- medical imaging
- position and orientation
- target registration error
- human body
- x ray images
- end effector
- minimally invasive surgery
- feature points
- ct and mr images
- fluoroscopic images
- inverse kinematics
- ct data
- minimally invasive
- computer assisted
- active contours
- control points
- ct scans
- markerless
- camera pose
- motion tracking
- robotic arm
- cone beam
- operating room
- contrast enhanced
- vision system
- left atrium
- b spline
- segmentation method