ICRA 2024poster1 citations
Markerless Ultrasound Probe Pose Estimation in Mini-Invasive Surgery
Mohammad Mahdi Kalantari, Erol Ozgur, Mohammad Alkhatib, Emmanuel Buc, Bertrand Le Roy, Richard Modrzejewski, Youcef Mezouar, Adrien Bartoli
Abstract
In mini-invasive surgery, the laparoscopic ultra-sound probe is visible in the laparoscopic image. We address the problem of estimating the probe pose with respect to the laparoscope without using markers and additional sensors. We propose the first method using a single standard laparoscopic monocular RGB image. It is robust, initialization-free and runs at 10 fps, thus forming a promising tool to improve robotic and augmented reality-based surgery.
BibTeX
@inproceedings{icra2024_markerlessultras,
title = {Markerless Ultrasound Probe Pose Estimation in Mini-Invasive Surgery},
author = {Mohammad Mahdi Kalantari and Erol Ozgur and Mohammad Alkhatib and Emmanuel Buc and Bertrand Le Roy and Richard Modrzejewski and Youcef Mezouar and Adrien Bartoli},
booktitle = {ICRA 2024},
year = {2024}
}