3D Position Estimation of Endoscopic Surgical Instruments: A Comparison of Monocular and Binocular Algorithms Using on IR Markers

Abstract

This paper develops a 3D positioning system for endoscopic surgical instruments Combining 3D virtual and augmented Reality, presents a wealth of opportunities in the field of medical science, especially where complex microsurgery is concerned. This paper develops 3D position reference coordinates between endoscopy instruments and the miniaturized camera required to perform surgery. The camera and markers used are infrared based which avoids confounding factors such as background colorings and light refractions. A comparison is made of monocular PnP and two different stereoscopic 3D attitude estimation methods for binocular stereo vision. It was found that monocular PnP is more accurate in stereo vision is generally more accurate. Inclusion of 3D modeling software. Unity to map the visualized surgical instrument, doctor could conceivably gain improved understanding of the surgical environment. This research is an initial effort at establishing Taiwan's MIS 3D attitude estimation processes, and it is hoped that it will eventually compete with the global brands such as NDI.