Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery
Zih-Yun Chiu,Florian Richter,Michael C. Yip,Zih-Yun Chiu,Florian Richter,Michael C. Yip
Autonomous suturing has been a long-sought-after goal for surgical robotics. Outside of staged environments, accurate localization of suture needles is a critical foundation for automating various suture needle manipulation tasks in the real world. When localizing a needle held by a gripper, previous work usually tracks them separately without considering their relationship. Because of the signifi...
