Preprint Open access
PICO: Projection-Informed Consistency Optimisation for 6DoF Surgical Tool Pose Estimation
Purpose: Accurate 6 DoF pose estimation of surgical tools is critical for automa- tion, robotic proprioception, and safe interaction with the tissue operated on. Kinematics-based approaches suffer from accumulated errors due to the cable- driven nature of robotic arms, while vision-based methods often rely on external …