Pose Measurement of the EndoWrist Round Tip Scissor Instrument with Optical Coherence Tomography

Abstract To automate surgical (sub-)tasks in robotic surgery, the knowledge of the exact pose of the instrument is mandatory. The application of Optical Coherence Tomography (OCT) to the problem of pose measurement appears promising due to its advantages of 3D imaging and micron-scale resolution. To investigate this, 175 image sequences of the EndoWrist Round Tip Scissor Tool were acquired with an OCT system. The images differ in the opening angles of the scissor blades and the rotation angles of the entire instrument about its central axis. These image sequences were further processed through computer vision methods of the individual images followed by point cloud generation. For pose estimation, an Iterative Closest Point algorithm was implemented to register the acquired point clouds to reference point clouds created from the instrument CAD file. The implemented algorithm was able to determine the opening angle with an overall error of 2∘ ± 1.3∘ and the rotation angle with a standard deviation between several runs of 0.6∘ ±2.8∘. However, the overall processing time of (39 ± 17)s on a standard PC leaves room for further investigations.