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POSE ESTIMATION METHOD OF BENDABLE INTERVENTIONAL MEDICAL DEVICE USING SINGLE-VIEW X-RAY IMAGE
POSE ESTIMATION METHOD OF BENDABLE INTERVENTIONAL MEDICAL DEVICE USING SINGLE-VIEW X-RAY IMAGE
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机译:使用单视图X射线图像的可弯曲介入医疗装置的姿态估计方法
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摘要
The present invention relates to a pose estimation method of an interventional medical device using a single-view X-ray image which is captured using a bendable interventional medical device equipped with a plurality of radiopaque markers and using an X-ray source. The pose estimation method includes an operation (a) of defining a circle assuming that the interventional medical device is bent at a constant curvature, an operation (b) of extracting a position value of the marker from an X-ray image obtained by the X-ray source projecting X-rays onto the markers, and an operation (c) of setting a projection plane and estimating a shape of the circle using a position value of the marker extracted from a projected image obtained by perspective-projecting the circle onto the projection plane and using the position value of the marker extracted from the X-ray image.
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