Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery.
Zih-Yun ChiuFlorian RichterMichael C. YipPublished in: ICRA (2023)
Keyphrases
- minimally invasive
- d objects
- radio frequency ablation
- real time
- beating heart
- robot assisted
- pose parameters
- surgical robot
- tissue deformation
- augmented reality
- image guided
- pose estimation
- viewpoint
- object recognition
- intraoperative
- multi view
- range data
- surgical procedures
- three dimensional
- force feedback
- multiple views
- markerless
- minimally invasive surgery
- clinical applications
- human body
- pre operative
- visual feedback
- computer assisted
- prostate cancer
- control points
- body parts
- x ray
- user interface