ERegPose: An explicit regression based 6D pose estimation for snake-like wrist-type surgical instruments.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
PMID: 38794828

Abstract

BACKGROUND: Accurately estimating the 6D pose of snake-like wrist-type surgical instruments is challenging due to their complex kinematics and flexible design.

Authors

  • Jinhua Li
    Key Lab for Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China.
  • Zhengyang Ma
    School of Mechanical Engineering, Tianjin University, Tianjin, China.
  • Xinan Sun
    Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China.
  • He Su
    Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China. suhe@tju.edu.cn.

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