Single-Shot Pose Estimation of Surgical Robot Instruments’ Shafts from Monocular Endoscopic Images
Masakazu Yoshimura,Murilo M. Marinho,Kanako Harada,Mamoru Mitsuishi,Masakazu Yoshimura,Murilo M. Marinho,Kanako Harada,Mamoru Mitsuishi
Surgical robots are used to perform minimally invasive surgery and alleviate much of the burden imposed on surgeons. Our group has developed a surgical robot to aid in the removal of tumors at the base of the skull via access through the nostrils. To avoid injuring the patients, a collision-avoidance algorithm that depends on having an accurate model for the poses of the instruments' shafts is use...
