Pose estimation method of bendable interventional medical device using single-view x-ray image

A pose estimation method of an interventional medical device using a single-view X-ray image which is captured using a bendable interventional medical device equipped with a plurality of radiopaque markers and using an X-ray source, the pose estimation method comprising:

• an operation (a) of defining a circle assuming that the interventional medical device has a constant curvature;
• an operation (b) of extracting a position value of a marker from an X-ray image obtained by the X-ray source projecting X-rays onto the markers;
• and
• an operation (c) of setting a projection plane and estimating a shape of the circle using a position value of the marker extracted from a projected image obtained by perspective-projecting the circle onto the projection plane and using the position value of the marker extracted from the X-ray image;
• wherein, in the operation (c), when there are five radiopaque markers, the position value of the marker extracted from the projected image has parameters of a center position, a radius, and a plane normal vector of the circle;
• and
• wherein the operation (c) includes:
• an operation (c-1) of defining the position value of the marker extracted from the projected image using a parameter matrix and estimating each of matrix components corresponding to the position value of the marker in the parameter matrix using a preset criterion;
• and
• an operation (c-2) of calculating normalized circle parameters including a normalized radius, a normalized center position, and the plane normal vector from the parameter matrix.