Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty
  Estimation for Autonomous Minimally Invasive Robotic Surgery   Suture needle localization is necessary for autonomous suturing. Previous
approaches in autonomous suturing often relied on fiducial markers rather than
markerless detection schemes for localizing a suture needle due to the
inconsistency of markerless detections. However, fiducial markers are not
practical for real-world applications and can often be occluded from
environmental factors in surgery (e.g., blood). Therefore in this work, we
present a robust tracking approach for estimating the 6D pose of a suture
needle when using inconsistent detections. We define observation models based
on suture needles' geometry that captures the uncertainty of the detections and
fuse them temporally in a probabilistic fashion. In our experiments, we compare
different permutations of the observation models in the suture needle
localization task to show their effectiveness. Our proposed method outperforms
previous approaches in localizing a suture needle. We also demonstrate the
proposed tracking method in an autonomous suture needle regrasping task and ex
vivo environments.

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The categories of this paper are: cond-mat
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The categories of this paper are: solv-int
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The categories of this paper are: atom-ph
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The categories of this paper are: hep-th
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The categories of this paper are: cmp-lg
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The categories of this paper are: gr-qc
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The categories of this paper are: physics
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The categories of this paper are: q-fin
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The categories of this paper are: alg-geom
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The categories of this paper are: adap-org
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The categories of this paper are: bayes-an
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The categories of this paper are: chao-dyn
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The categories of this paper are: supr-con
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The categories of this paper are: funct-an
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The categories of this paper are: comp-gas
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The categories of this paper are: q-bio