DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

An ORB-SLAM3-based Approach for Surgical Navigation in Ureteroscopy

Oliva Maza, Laura and Steidle, Florian and Klodmann, Julian and Strobl, Klaus and Triebel, Rudolph (2022) An ORB-SLAM3-based Approach for Surgical Navigation in Ureteroscopy. Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization. Taylor & Francis. doi: 10.1080/21681163.2022.2156392. ISSN 2168-1163.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://www.tandfonline.com/doi/full/10.1080/21681163.2022.2156392


In ureteroscopy a flexible ureteroscope is used to inspect the kidneys and the ureters. In this context, we investigate robotic solutions that leverage recent developments from Simultaneous Localization and Mapping (SLAM) to provide a 3D map of the organ to be explored and the ureteroscope’s pose. With this aid, the surgeoncan navigate through the organ more precisely. Additionally, for the final organ inspection, the risk of missing certain regions of the organ is minimized. In this paper, we propose a visual, monocular SLAM system based on ORB-SLAM3 that is able to estimate the pose of the ureteroscope’s tip. In order to fulfill this task, we introduce two pre-processing steps. The first one aims at increasing the contrast of the image and the second one helps to avoid detecting features in non-desired regions (e.g. reflections). Additionally, we extend ORB-SLAM3 with A-KAZE and SuperPoint features and compare their performances to ORB features. The proposed method is evaluated in two experiments. The first experiment shows that we are able to estimate the trajectory of the ureteroscope and the map of a synthetic kidney with low errors. The second experiment shows that the method also gives promising results in cystoscopy.

Item URL in elib:https://elib.dlr.de/192834/
Document Type:Article
Additional Information:50 FREE COPIES: https://www.tandfonline.com/eprint/C6RQYN8NDSGVKESFBKF5/full?target=10.1080/21681163.2022.2156392
Title:An ORB-SLAM3-based Approach for Surgical Navigation in Ureteroscopy
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Oliva Maza, LauraUNSPECIFIEDhttps://orcid.org/0000-0001-5382-3025UNSPECIFIED
Steidle, FlorianUNSPECIFIEDhttps://orcid.org/0000-0001-6935-9810UNSPECIFIED
Klodmann, JulianUNSPECIFIEDhttps://orcid.org/0000-0002-9428-7211UNSPECIFIED
Strobl, KlausUNSPECIFIEDhttps://orcid.org/0000-0001-8123-0606UNSPECIFIED
Triebel, RudolphUNSPECIFIEDhttps://orcid.org/0000-0002-7975-036XUNSPECIFIED
Date:21 December 2022
Journal or Publication Title:Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
EditorsEmailEditor's ORCID iDORCID Put Code
Publisher:Taylor & Francis
Keywords:Ureteroscopy, SLAM, Image processing
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Medical Assistance Systems [RO], R - Multisensory World Modelling (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:22 Dec 2022 15:40
Last Modified:29 Mar 2023 00:03

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.