IPAB Workshop-04/07/2024

Speaker: Mohsen Khadem

Title: Challenges in Inner Body Visual Odometry

Abstract: Endoscopy is a procedure to look inside the body. A long, thin tube with a small camera inside, called an endoscope, is passed into the body through a natural opening such as the mouth. Endoscope navigation is vital for precise sampling and drug delivery during endoluminal procedures. Current systems rely on sensorized endoscopes for real-time tracking, but they are costly and require specialized settings. Camera pose estimation offers an alternative for endoscope motion tracking and navigation. In this talk, I discuss state-of-the-art monocular pose estimation methods for endoluminal navigation and explore the fundamental challenges in applying such techniques to real clinical data. Additionally, I introduce open source clinical datasets our group has recently collected, which will support future work on this topic.