Autonomous Intelligent Navigation for Flexible Endoscopy Using Monocular Depth Guidance and 3-D Shape Planning
Yiang Lu,Ruofeng Wei,Bin Li,Wei Chen,Jianshu Zhou,Qi Dou,Dong Sun,Yun-hui Liu,Yiang Lu,Ruofeng Wei,Bin Li,Wei Chen,Jianshu Zhou,Qi Dou,Dong Sun,Yun-hui Liu
Recent advancements toward perception and decision-making of flexible endoscopes have shown great potential in computer-aided surgical interventions. However, owing to modeling uncertainty and inter-patient anatomical variation in flexible endoscopy, the challenge remains for efficient and safe navigation in patient-specific scenarios. This paper presents a novel data-driven framework with self-co...
