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Drape-Compatible Tool-Tip Localization for Hand-Held Laparoscopic Instruments via UWB Carrier-Phase Ranging and Trocar-Constrained Geometry
A surgical robot policy needs to know where each instrument's working end sits relative to the camera and to the other instrument, yet a laparoscopic operation leaves only the endoscope video, and a draped instrument hides every optical path on itself. We estimate the tool tips from distances and an
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