{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,19]],"date-time":"2026-06-19T09:50:47Z","timestamp":1781862647691,"version":"3.54.5"},"reference-count":29,"publisher":"Oxford University Press (OUP)","issue":"6","license":[{"start":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T00:00:00Z","timestamp":1777852800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc\/4.0\/"}],"funder":[{"name":"Korea Institute of Science and Technology (KIST) Institutional Program","award":["26E0171"],"award-info":[{"award-number":["26E0171"]}]},{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Korea government","award":["RS-2025-00573117"],"award-info":[{"award-number":["RS-2025-00573117"]}]},{"name":"Korea government","award":["26N1510"],"award-info":[{"award-number":["26N1510"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026,6,4]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Minimal invasive surgery requires precise control of flexible instruments to ensure safe and accurate procedures within complex anatomical structures. Accurate estimation of the three-dimensional (3D) pose of flexible surgical tools such as catheters is therefore crucial. While various sensing-based approaches, including fiber Bragg grating sensors, electromagnetic tracking, and ultrasound localization, have been explored, these methods depend on additional sensing hardware and are sensitive to calibration and environmental conditions. X-ray imaging offers distinct advantages by allowing visualization without specialized catheters or external devices, enabling universal applicability; however, existing image-based tracking methods either rely on large training datasets are limited to thick or structured catheters, or lack real-time performance. In this study, we present a slender-marker-based method to accurately estimate the 3D pose of a catheter from a single X-ray image using thin radiopaque marker sets compatible with commercially available epidural catheters. The proposed algorithm resolves the inherent 3D ambiguity in single-plane X-ray projections by combining a mixture-of-experts model with geometry-constrained refinement, and achieves real-time and precise tracking without any pre-obtained experimental data through simulation-based learning, enabling strong generalization across catheter types. Validation with X-ray and C-arm experiments confirmed clinically acceptable accuracy, below 2 mm, showing that the proposed approach preserves the advantages of X-ray\u2013based interventions while reducing radiation exposure for both surgeons and patients.<\/jats:p>","DOI":"10.1093\/jcde\/qwag045","type":"journal-article","created":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T12:23:49Z","timestamp":1777724629000},"page":"99-122","source":"Crossref","is-referenced-by-count":0,"title":["3D pose estimation of epidural catheter markers based on a single-view 2D X-ray fluoroscopy"],"prefix":"10.1093","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-9918-8679","authenticated-orcid":false,"given":"Jegyeong","family":"Ryu","sequence":"first","affiliation":[{"name":"Center for Bionics, Korea Institute of Science and Technology , Seoul 02792 ,","place":["Korea"]},{"name":"Department of Mechanical Engineering, Seoul National University , Seoul 08826 ,","place":["Korea"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1625-8650","authenticated-orcid":false,"given":"Jae Chul","family":"Koh","sequence":"additional","affiliation":[{"name":"Department of Anesthesiology and Pain Medicine, Korea University College of Medicine , Seoul 02841 ,","place":["Korea"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9260-8619","authenticated-orcid":false,"given":"Amy Kyungwon","family":"Han","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Seoul National University , Seoul 08826 ,","place":["Korea"]},{"name":"Institute of Advanced Machines and Design, Seoul National University , Seoul 08826 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