Robust surgical tool tracking with pixel-based probabilities for projected geometric primitives

[PDF] arxiv.org

SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation

NU Shinde, ZY Chiu, F Richter, J Lim, Y Zhi… - arXiv preprint arXiv …, 2024 - arxiv.org
Inaccurate tool localization is one of the main reasons for failures in automating surgical
tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuity of …
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