SOURCE-LINKED INTELLIGENCE
Object-Centered Reconstruction for Vision-Based 3D Force Estimation
Excessive force may damage tissue and increase the risk of anastomotic leakage in robotic colorectal surgery. Although the da Vinci 5 provides force sensing, this capability is unavailable on earlier da Vinci systems and many other surgical robotic platforms. In this work, we present a vision-based pipeline for estimating 3D interaction forces from soft-tissue deformation in stereo endoscopic video. We dynamically reconstruct the tissue point cloud in an object-centered coordinate frame, track tissue points with geometric constraints, and predict the 3D force vector with a neural network. We p
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- arXiv · AI, language, vision and robotics · 2026-09-20T20:22:14.000Z
First collected: 2026-09-23T09:51:33.063Z. This is not the publication date.