{"id":"https://openalex.org/W4416751152","doi":"https://doi.org/10.1109/iros60139.2025.11245870","title":"Differentiable Rendering-based Pose Estimation for Surgical Robotic Instruments","display_name":"Differentiable Rendering-based Pose Estimation for Surgical Robotic Instruments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416751152","doi":"https://doi.org/10.1109/iros60139.2025.11245870"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5033399342","display_name":"Zekai Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zekai Liang","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,San Diego,CA,USA,92093"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,San Diego,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077633096","display_name":"Zih-Yun Chiu","orcid":null},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zih-Yun Chiu","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,San Diego,CA,USA,92093"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,San Diego,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058235831","display_name":"Florian Richter","orcid":"https://orcid.org/0000-0002-7669-1923"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Florian Richter","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,San Diego,CA,USA,92093"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,San Diego,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054598974","display_name":"Michael C. Yip","orcid":"https://orcid.org/0000-0001-9689-0172"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael C. Yip","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,San Diego,CA,USA,92093"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,San Diego,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.50407208,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"20898","last_page":"20905"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.3474000096321106,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.3474000096321106,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.23909999430179596,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.1817999929189682,"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/initialization","display_name":"Initialization","score":0.7465000152587891},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7096999883651733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6004999876022339},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.590499997138977},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.588100016117096},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4943999946117401},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.4885999858379364},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.4810999929904938},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4805000126361847}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7465000152587891},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7343000173568726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7279000282287598},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7096999883651733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6004999876022339},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.590499997138977},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.588100016117096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5636000037193298},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4943999946117401},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.4885999858379364},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.4810999929904938},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4805000126361847},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4754999876022339},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.4560000002384186},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4099999964237213},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.40950000286102295},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4034999907016754},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.374099999666214},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3695000112056732},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.3553999960422516},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.33219999074935913},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.33090001344680786},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.320499986410141},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.29989999532699585},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.2939000129699707},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.2574000060558319}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W72393350","https://openalex.org/W1988707210","https://openalex.org/W1994349244","https://openalex.org/W2030414913","https://openalex.org/W2061417916","https://openalex.org/W2079716332","https://openalex.org/W2088392499","https://openalex.org/W2125188427","https://openalex.org/W2145023731","https://openalex.org/W2155912251","https://openalex.org/W2201321853","https://openalex.org/W2325916644","https://openalex.org/W2736750746","https://openalex.org/W2963553847","https://openalex.org/W2972836290","https://openalex.org/W3001016550","https://openalex.org/W3004928158","https://openalex.org/W3035333927","https://openalex.org/W3090564508","https://openalex.org/W3119888110","https://openalex.org/W3173409700","https://openalex.org/W3175955419","https://openalex.org/W3200540310","https://openalex.org/W3204263285","https://openalex.org/W3205231824","https://openalex.org/W3205960420","https://openalex.org/W3206787706","https://openalex.org/W4360993143","https://openalex.org/W4383097700","https://openalex.org/W4383109114","https://openalex.org/W4386076102","https://openalex.org/W4399568539","https://openalex.org/W4400579539","https://openalex.org/W4401417031","https://openalex.org/W4401692888","https://openalex.org/W4402623247","https://openalex.org/W4413945463","https://openalex.org/W4413945481"],"related_works":[],"abstract_inverted_index":{"Robot":[0],"pose":[1,61,117,123],"estimation":[2],"is":[3,84],"a":[4,76,115,121,145,154],"challenging":[5],"and":[6,42,68,93,113,140,156],"crucial":[7],"task":[8],"for":[9,70,160],"vision-based":[10],"surgical":[11,23,52,64,142,161],"robotic":[12,15,53],"automation.":[13],"Typical":[14],"calibration":[16,134,138,149],"approaches,":[17],"however,":[18],"are":[19],"not":[20],"applicable":[21],"to":[22,35,58,152],"robots,":[24],"such":[25],"as":[26],"the":[27,43,60,63,71,85,101,128],"da":[28],"Vinci":[29],"Research":[30],"Kit":[31],"(dVRK)":[32],"[1],":[33],"due":[34],"joint":[36,72],"angle":[37,73],"measurement":[38],"errors":[39],"from":[40],"cable-drives":[41],"partially":[44],"visible":[45],"kinematic":[46],"chain.":[47],"Hence,":[48],"previous":[49,81],"works":[50,83],"in":[51,66,120],"automation":[54],"used":[55],"tracking":[56,82],"algorithms":[57],"estimate":[59],"of":[62,79,103,131],"tool":[65,162],"real-time":[67],"compensate":[69],"errors.":[74],"However,":[75],"big":[77],"limitation":[78],"these":[80],"initialization":[86,158],"step":[87,159],"which":[88],"relied":[89],"on":[90],"only":[91],"keypoints":[92,108],"SolvePnP.":[94],"In":[95],"this":[96,147],"work,":[97],"we":[98],"fully":[99],"explore":[100],"potential":[102],"geometric":[104],"primitives":[105],"beyond":[106],"just":[107],"with":[109,136],"differentiable":[110],"rendering,":[111],"cylinders,":[112],"construct":[114],"versatile":[116],"matching":[118],"pipeline":[119],"novel":[122],"hypothesis":[124],"space.":[125],"We":[126],"demonstrate":[127],"state-of-the-art":[129],"performance":[130],"our":[132],"single-shot":[133],"method":[135],"both":[137],"consistency":[139],"real":[141],"tasks.":[143],"As":[144],"result,":[146],"marker-less":[148],"approach":[150],"proves":[151],"be":[153],"robust":[155],"generalizable":[157],"tracking.":[163]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-11-28T00:00:00"}