{"id":"https://openalex.org/W4383108494","doi":"https://doi.org/10.1109/icra48891.2023.10160287","title":"Graph-based Pose Estimation of Texture-less Surgical Tools for Autonomous Robot Control","display_name":"Graph-based Pose Estimation of Texture-less Surgical Tools for Autonomous Robot Control","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108494","doi":"https://doi.org/10.1109/icra48891.2023.10160287"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160287","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022005243","display_name":"Haozheng Xu","orcid":"https://orcid.org/0009-0004-0594-3945"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Haozheng Xu","raw_affiliation_strings":["Imperial College London,Hamlyn Centre for Robotic Surgery,Department of Surgery and Cancer,United Kingdom","Department of Surgery and Cancer, Hamlyn Centre for Robotic Surgery, Imperial College London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Hamlyn Centre for Robotic Surgery,Department of Surgery and Cancer,United Kingdom","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Surgery and Cancer, Hamlyn Centre for Robotic Surgery, Imperial College London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003111191","display_name":"Mark Runciman","orcid":"https://orcid.org/0000-0003-0782-5729"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mark Runciman","raw_affiliation_strings":["Imperial College London,Hamlyn Centre for Robotic Surgery,Department of Surgery and Cancer,United Kingdom","Department of Surgery and Cancer, Hamlyn Centre for Robotic Surgery, Imperial College London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Hamlyn Centre for Robotic Surgery,Department of Surgery and Cancer,United Kingdom","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Surgery and Cancer, Hamlyn Centre for Robotic Surgery, Imperial College London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067359986","display_name":"Jo\u00e3o Cartucho","orcid":"https://orcid.org/0000-0001-8600-2979"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o Cartucho","raw_affiliation_strings":["Imperial College London,Hamlyn Centre for Robotic Surgery,Department of Surgery and Cancer,United Kingdom","Department of Surgery and Cancer, Hamlyn Centre for Robotic Surgery, Imperial College London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Hamlyn Centre for Robotic Surgery,Department of Surgery and Cancer,United Kingdom","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Surgery and Cancer, Hamlyn Centre for Robotic Surgery, Imperial College London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076772092","display_name":"Chi Xu","orcid":"https://orcid.org/0000-0002-3530-2733"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chi Xu","raw_affiliation_strings":["Imperial College London,Hamlyn Centre for Robotic Surgery,Department of Surgery and Cancer,United Kingdom","Department of Surgery and Cancer, Hamlyn Centre for Robotic Surgery, Imperial College London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Hamlyn Centre for Robotic Surgery,Department of Surgery and Cancer,United Kingdom","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Surgery and Cancer, Hamlyn Centre for Robotic Surgery, Imperial College London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054387003","display_name":"Stamatia Giannarou","orcid":"https://orcid.org/0000-0002-8745-1343"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Stamatia Giannarou","raw_affiliation_strings":["Imperial College London,Hamlyn Centre for Robotic Surgery,Department of Surgery and Cancer,United Kingdom","Department of Surgery and Cancer, Hamlyn Centre for Robotic Surgery, Imperial College London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Hamlyn Centre for Robotic Surgery,Department of Surgery and Cancer,United Kingdom","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Surgery and Cancer, Hamlyn Centre for Robotic Surgery, Imperial College London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5022005243"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.5476,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.61036028,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2731","last_page":"2737"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7973977327346802},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7467088103294373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7379932403564453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6833010315895081},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.545897364616394},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4825808107852936},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4619349241256714},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.4325595796108246}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7973977327346802},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7467088103294373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7379932403564453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6833010315895081},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.545897364616394},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4825808107852936},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4619349241256714},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.4325595796108246},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10160287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160287","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/106522","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/106522","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3051209337","display_name":null,"funder_award_id":"URF-R-201014","funder_id":"https://openalex.org/F4320320006","funder_display_name":"Royal Society"},{"id":"https://openalex.org/G665417808","display_name":"Molecularly aware robotics for surgery (MARS)","funder_award_id":"EP/W004798/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7661004567","display_name":null,"funder_award_id":"EP/W004798/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320320006","display_name":"Royal Society","ror":"https://ror.org/03wnrjx87"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320336039","display_name":"NIHR Imperial Biomedical Research Centre","ror":"https://ror.org/01kmhx639"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W72393350","https://openalex.org/W132147841","https://openalex.org/W1982455103","https://openalex.org/W1991544872","https://openalex.org/W1994349244","https://openalex.org/W2108598243","https://openalex.org/W2150382645","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2345308174","https://openalex.org/W2370549573","https://openalex.org/W2563408008","https://openalex.org/W2601489923","https://openalex.org/W2604236302","https://openalex.org/W2888129807","https://openalex.org/W2889529934","https://openalex.org/W2926374707","https://openalex.org/W2955425717","https://openalex.org/W2963076818","https://openalex.org/W2963188159","https://openalex.org/W2963756608","https://openalex.org/W2964249569","https://openalex.org/W2989915422","https://openalex.org/W3035355652","https://openalex.org/W3036317416","https://openalex.org/W3099641329","https://openalex.org/W3100052745","https://openalex.org/W3101338131","https://openalex.org/W3106165820","https://openalex.org/W3106882556","https://openalex.org/W3174980830","https://openalex.org/W3196048927","https://openalex.org/W3196703792","https://openalex.org/W3209721516","https://openalex.org/W3213581965","https://openalex.org/W4313130756","https://openalex.org/W6687483927","https://openalex.org/W6753824528","https://openalex.org/W6762718338"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W2386520554","https://openalex.org/W1520171478","https://openalex.org/W4317830657","https://openalex.org/W3024380338","https://openalex.org/W2127866683","https://openalex.org/W110066474","https://openalex.org/W4318473896"],"abstract_inverted_index":{"In":[0,67],"Robot-assisted":[1],"Minimally":[2],"Invasive":[3],"Surgery":[4],"(RMIS),":[5],"the":[6,9,42,64,78,91,102,138,146,177,180],"estimation":[7,165],"of":[8,11,33,47,80,85,148,157,179],"pose":[10,79,124,147,164],"surgical":[12,20,65,83],"tools":[13,84],"is":[14,74,98,107,125,141],"crucial":[15],"for":[16,101,116],"applications":[17],"such":[18,170],"as":[19,171],"navigation,":[21],"visual":[22],"servoing,":[23],"autonomous":[24],"robotic":[25,151],"task":[26],"execution":[27],"and":[28,35,61,100,121,174],"augmented":[29],"reality.":[30],"A":[31],"plethora":[32],"hardware-based":[34],"vision-based":[36],"methods":[37,49],"have":[38],"been":[39],"proposed":[40,75,139],"in":[41,63,93,112,176],"literature.":[43],"However,":[44],"direct":[45],"application":[46],"these":[48],"to":[50,56,76,143],"RMIS":[51],"has":[52,135],"significant":[53],"limitations":[54],"due":[55],"partial":[57],"tool":[58,123],"visibility,":[59],"occlusions":[60],"changes":[62,175],"scene.":[66,181],"this":[68],"work,":[69],"a":[70,128,149],"novel":[71],"keypoint-graph-based":[72],"network":[73],"estimate":[77],"texture-less":[81],"cylindrical":[82],"small":[86],"diameter.":[87],"To":[88],"deal":[89],"with":[90,109,153],"challenges":[92],"RMIS,":[94],"keypoint":[95,113,117],"object":[96,172],"representation":[97],"used":[99],"first":[103],"time,":[104],"temporal":[105],"information":[106,111],"combined":[108],"spatial":[110],"graph":[114],"representation,":[115],"refinement.":[118],"Finally,":[119],"stable":[120],"accurate":[122],"computed":[126],"using":[127],"PnP":[129],"solver.":[130],"Our":[131],"performance":[132],"evaluation":[133],"study":[134],"shown":[136],"that":[137],"method":[140,161],"able":[142],"accurately":[144],"predict":[145],"textureless":[150],"shaft":[152],"an":[154],"ADD-S":[155],"score":[156],"over":[158],"98%.":[159],"The":[160],"outperforms":[162],"state-of-the-art":[163],"models":[166],"under":[167],"challenging":[168],"conditions":[169],"occlusion":[173],"lighting":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}