Colibri5: Real-Time Monocular 5-DoF Trocar Pose Tracking for Robot-Assisted Vitreoretinal Surgery
Shervin Dehghani,Michael Sommersperger,Mahdi Saleh,Alireza Alikhani,Benjamin Busam,Peter Gehlbach,Iulian Iordachita,Nassir Navab,M. Ali Nasseri,Shervin Dehghani,Michael Sommersperger,Mahdi Saleh,Alireza Alikhani,Benjamin Busam,Peter Gehlbach,Iulian Iordachita,Nassir Navab,M. Ali Nasseri
Retinal surgery is a complex medical procedure that requires high precision dexterity to perform delicate instrument maneuvers with sub-millimeter accuracy. Minimizing the manual tremor and achieving precise and repeatable execution of surgical tasks has motivated the development of robotic platforms to overcome the limitations of manual surgery. However, specific tasks, such as instrument inserti...
