Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery
Zih-Yun Chiu,Albert Z Liao,Florian Richter,Bjorn Johnson,Michael C. Yip,Zih-Yun Chiu,Albert Z Liao,Florian Richter,Bjorn Johnson,Michael C. Yip
Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection schemes for localizing a suture needle due to the in-consistency of markerless detections. However, fiducial markers are not practical for real-world applications and can often be occluded from environmental factors in surgery...
