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English(EN) MarUco: A Markerless 6D Pose Estimation Framework for Closed-Loop Control of Surgical Continuum Manipulators

无标记6D姿态估计框架增强手术操纵器控制

作者 PulseAugur 编辑部 · [1 个来源] ·

研究人员开发了MarUco，一种利用立体视觉估计手术连续操纵器6D姿态的新型无标记框架。该系统旨在通过补偿这些柔性仪器固有的非线性滞后，提高闭环控制精度。MarUco集成了多种视觉特征，并采用自监督适应方法来最小化仿真到现实的误差，在实验中实现了1.8毫米的平均终端平移误差，与未补偿控制相比降低了88%。 AI

影响 该框架通过改进柔性仪器的实时姿态估计，有望实现更精确的机器人手术。

排序理由 该集群包含一篇详细介绍特定应用新框架的研究论文。[lever_c_demoted from research: ic=1 ai=1.0]

在 arXiv cs.CV 阅读 →

AI 生成摘要 · Google Gemini · 来自 1 个来源。 我们如何撰写摘要 →

无标记6D姿态估计框架增强手术操纵器控制

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该集群包含一篇详细介绍特定应用新框架的研究论文。[lever_c_demoted from research: ic=1 ai=1.0]
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报道来源 [1]

  1. arXiv cs.CV TIER_1 English(EN) · Junhyun Park, Chunggil An, Myeongbo Park, Ihsan Ullah, Sihyeong Park, Minho Hwang ·

    MarUco：用于手术连续体操纵器闭环控制的无标记6D姿态估计框架

    arXiv:2602.16365v2 Announce Type: replace-cross Abstract: Flexible endoscopic continuum manipulators offer high dexterity and access to complex anatomy, but nonlinear hysteresis limits feedforward control accuracy. Closed-loop control can compensate for these errors but requires …

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