TROCAR POSE ESTIMATION USING MACHINE LEARNING FOR DOCKING SURGICAL ROBOTIC ARM TO TROCAR

摘要

A surgical robotic system senses position or orientation of an object, which may be a trocar that has a magnetic field. Magnetic field sensors are coupled to a surgical robotic arm. A machine learning model coupled to the magnetic field sensors is trained to output three-dimensional position and/or three-dimensional orientation of the trocar or other object. Other aspects are also described.