Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Real-time 3D Tracking of Articulated Tools for Robotic Surgery   In robotic surgery, tool tracking is important for providing safe tool-tissue
interaction and facilitating surgical skills assessment. Despite recent
advances in tool tracking, existing approaches are faced with major
difficulties in real-time tracking of articulated tools. Most algorithms are
tailored for offline processing with pre-recorded videos. In this paper, we
propose a real-time 3D tracking method for articulated tools in robotic
surgery. The proposed method is based on the CAD model of the tools as well as
robot kinematics to generate online part-based templates for efficient 2D
matching and 3D pose estimation. A robust verification approach is incorporated
to reject outliers in 2D detections, which is then followed by fusing inliers
with robot kinematic readings for 3D pose estimation of the tool. The proposed
method has been validated with phantom data, as well as ex vivo and in vivo
experiments. The results derived clearly demonstrate the performance advantage
of the proposed method when compared to the state-of-the-art.

30
The categories of this paper are: q-alg
27
The categories of this paper are: comp-gas
35
The categories of this paper are: mtrl-th
4
The categories of this paper are: cond-mat
23
The categories of this paper are: solv-int
9
The categories of this paper are: nlin
17
The categories of this paper are: q-fin
15
The categories of this paper are: nucl-ex
24
The categories of this paper are: dg-ga
10
The categories of this paper are: q-bio
37
The categories of this paper are: supr-con
28
The categories of this paper are: alg-geom
26
The categories of this paper are: bayes-an
13
The categories of this paper are: quant-ph
19
The categories of this paper are: eess
33
The categories of this paper are: plasm-ph