Duble-Ring Marker Based 3D Pose Estimation For Rod-Shaped MIS Instrument From a Single 2D Image

In this paper, we propose a hologram like Double-Ring Marker based method which can estimate the six (6) 3D pose parameters of a Rod-shaped body such as MIS (Minimally Invasive Surgery) instrument using just a single 2D image. The six 3D pose parameters are derived from a set of geometric equations that the predefined Double-Ring Markers on the rod be projected onto the image plan through the camera’s perspective transformation. Compared to existing MIS pose estimation methods, which normally require time consuming processes including depth estimation, instrument identification and position parameters estimation as the pre-processing, the proposed Double-Rings marker based algorithm is very efficient and accurate.