A Markerless 3D Tracking Framework for Continuum Surgical Tools Using a Surgical Tool Partial Pose Estimation Network Based on Domain Randomization

A Markerless 3D Tracking Framework for Continuum Surgical Tools Using a Surgical Tool Partial Pose Estimation Network Based on Domain Randomization

3D tracking of single‐port continuum surgical tools is an essential step toward their closed‐loop control in robot‐assisted‐laparoscopy, since single‐port tools possess multiple degrees‐of‐freedom (DoFs) without distal joint sensors and hence have lower motion precision compared to rigid straight‐st...

Full description

Bibliographic Details
Main Authors: Chang Zhou, Longfei Wang, Baibo Wu, Kai Xu
Format: Article
Language:English
Published: Wiley 2024-04-01
Series:Advanced Intelligent Systems
Subjects:
3D tracking
continuum surgical tools
deep‐learning
domain randomization
Online Access:https://doi.org/10.1002/aisy.202300434

Internet

https://doi.org/10.1002/aisy.202300434

Similar Items