EndoSERV: A Vision-based Endoluminal Robot Navigation System
Robot-assisted endoluminal procedures are increasingly used for early cancer intervention. However, the intricate, narrow and tortuous pathways within the luminal anatomy pose substantial difficulties for robot navigation. Vision-based navigation offers a promising solution, but existing localization approaches are error-prone due to tissue deformation, in vivo artifacts and a lack of distinctive landmarks for consistent localization. This paper presents a novel EndoSERV localization method to address these challenges. It includes two main parts, \textit{i.e.}, \textbf{SE}gment-to-structure and \textbf{R}eal-to-\textbf{V}irtual mapping, and hence the name. For long-range and complex lumin...
| Authors | Junyang Wu, Fangfang Xie, Minghui Zhang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 9 March 2026 |
| Last updated at source | 9 March 2026 |
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