Jiadong Shi

Robust image-based computation of the 3D position of RCM instruments and its application to image-guided manipulation

In this paper, we address the 3D position control of RCM-constrained instruments with monocular cameras. To compute the instrument's position from a single 2D image, we develop an innovative gradient descent algorithm which rotates and translates a line segment (over the plane spanned by the imaged