Fast vision-based catheter 3D reconstruction Moradi Dalvand, Mohsen, Nahavandi, Saeid and Howe, Robert D. 2016, Fast vision-based catheter 3D reconstruction, Physics in medicine and biology, vol. 61, no. 14, pp. 5128-5148, doi: 10.1088/0031-9155/61/14/5128. Attached Files Name Description MIMEType Size Downloads Title Fast vision-based catheter 3D reconstruction Author(s) Moradi Dalvand, Mohsen Nahavandi, Saeid orcid.org/0000-0002-0360-5270 Howe, Robert D. Journal name Physics in medicine and biology Volume number 61 Issue number 14 Start page 5128 End page 5148 Total pages 21 Publisher Institute of Physics Publishing Place of publication Bristol, Eng. Publication date 2016-07-21 ISSN 1361-6560 Summary Continuum robots offer better maneuverability and inherent compliance and are well-suited for surgical applications as catheters, where gentle interaction with the environment is desired. However, sensing their shape and tip position is a challenge as traditional sensors can not be employed in the way they are in rigid robotic manipulators. In this paper, a high speed vision-based shape sensing algorithm for real-time 3D reconstruction of continuum robots based on the views of two arbitrary positioned cameras is presented. The algorithm is based on the closed-form analytical solution of the reconstruction of quadratic curves in 3D space from two arbitrary perspective projections. High-speed image processing algorithms are developed for the segmentation and feature extraction from the images. The proposed algorithms are experimentally validated for accuracy by measuring the tip position, length and bending and orientation angles for known circular and elliptical catheter shaped tubes. Sensitivity analysis is also carried out to evaluate the robustness of the algorithm. Experimental results demonstrate good accuracy (maximum errors of  ±0.6 mm and  ±0.5 deg), performance (200 Hz), and robustness (maximum absolute error of 1.74 mm, 3.64 deg for the added noises) of the proposed high speed algorithms. Language eng DOI 10.1088/0031-9155/61/14/5128 Field of Research 090304 Medical Devices 091399 Mechanical Engineering not elsewhere classified 080106 Image Processing 010101 Algebra and Number Theory 010299 Applied Mathematics not elsewhere classified 0299 Other Physical Sciences 0903 Biomedical Engineering Socio Economic Objective 861502 Medical Instruments HERDC Research category C1 Refereed article in a scholarly journal ERA Research output type C Journal article Copyright notice ©2016, Institute of Physics Publishing Persistent URL http://hdl.handle.net/10536/DRO/DU:30084888 Document type: Journal Article Collection: Centre for Intelligent Systems Research Related Links Link Description Connect to published version Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Versions Version Filter Type Wed, 13 Jul 2016, 15:42:49 EST Thu, 14 Jul 2016, 05:00:51 EST Thu, 14 Jul 2016, 06:10:49 EST Thu, 04 Aug 2016, 12:29:58 EST Thu, 04 Aug 2016, 12:31:26 EST Wed, 12 Oct 2016, 15:40:41 EST Wed, 09 Nov 2016, 11:10:00 EST Wed, 09 Nov 2016, 11:49:48 EST Wed, 01 Mar 2017, 08:14:04 EST Thu, 15 Feb 2018, 10:25:38 EST Filtered Full Citation counts:   Cited 3 times in TR Web of Science Cited 3 times in Scopus Search Google Scholar Access Statistics: 290 Abstract Views, 3 File Downloads  -  Detailed Statistics Created: Wed, 13 Jul 2016, 15:42:49 EST

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