The estimation of instrument pose benefits the downstream applications of intervention like navigation and robot planning. Vision-based pose estimation approaches are compatible with the current intervention, as it does not require robot kinematic information nor extra tracking or imaging devices. Pose estimation using visual markers is more likely to achieve higher positioning accuracy than the markerless one. However, accurately estimating the roll angle around the shaft axis of the instrument with the working range of 360 degrees remains challenging. To overcome the problem, we propose a novel marker together with a method for marker detection and pose estimation. Experiment results show that the working range of the roll angle around the shaft axis is 360 degrees. The positioning errors of the translation and rotation are 2.08±1.49 mm and 0.84±0.56°, respectively, proving that the proposed method can accurately estimate poses with a large working range of the roll angle.

[Introduction] Hokkaido, comprising approximately 23% of Japan's total land area, is geographically separated from the mainland. In 2018, the Eastern IBURI earthquake (EIE) struck, resulting in a widespread power outage across Hokkaido. This survey aims to provide insights into emergency power supplies (EPS) for hemodialysis facilities (HDF) in the region in 2023.

[Method] Questionnaires were distributed to HDFs in Hokkaido, yielding 107 responses with a response rate of 39.3%. Given our firsthand experience of the comprehensive blackout in Hokkaido, an unprecedented event in Japan, our focus centers on understanding the correlation between the EIE and EPS.

[Result] Among the HDFs surveyed, 52% reported having EPS. The operational durations were distributed as follows: 18% for one day, 15% for two days, and 31% for three days These numbers are improved after EIE.