Colibri5: Real-Time Monocular 5-DoF Trocar Pose Tracking for Robot-Assisted Vitreoretinal Surgery.
Shervin DehghaniMichael SommerspergerMahdi SalehAlireza AlikhaniBenjamin BusamPeter GehlbachIulian IordachitaNassir NavabM. Ali NasseriPublished in: ICRA (2024)
Keyphrases
- pose tracking
- robot assisted
- real time
- pose estimation
- minimally invasive
- sensor fusion
- coronary artery bypass
- image guided
- motion capture
- force feedback
- laparoscopic surgery
- pose parameters
- robust tracking
- markerless
- cochlear implant
- intraoperative
- d objects
- computer assisted
- surgical procedures
- augmented reality
- degrees of freedom
- computer vision
- computer graphics
- uncalibrated cameras
- robotic arm
- minimally invasive surgery
- human body
- medical imaging
- mobile robot
- path planning
- shape model