3-D Pose Estimation of Articulated Instruments in Robotic Minimally Invasive Surgery.
Max AllanSébastien OurselinDavid J. HawkesJohn D. KellyDanail StoyanovPublished in: IEEE Trans. Medical Imaging (2018)
Keyphrases
- minimally invasive surgery
- articulated objects
- degrees of freedom
- surgical robot
- robotic arm
- pose estimation
- tactile sensing
- robotic systems
- surgical navigation
- laparoscopic surgery
- intraoperative
- motion planning
- motion tracking
- minimally invasive
- robotic assisted
- human body
- end effector
- tissue deformation
- soft tissue
- path planning
- surgical instruments
- mobile robot
- robot assisted
- real time
- surgical procedures
- joint angles
- body parts
- dynamic environments
- d objects
- computer assisted