Real-time Rendering-based Surgical Instrument Tracking via Evolutionary Optimization
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026, 2026
A real-time framework for jointly estimating surgical-instrument pose and visible joint configurations using CMA-ES and GPU-batched rendering.
Recommended citation: Hanyang Hu, Zekai Liang, Florian Richter, and Michael C. Yip. (2026). "Real-time Rendering-based Surgical Instrument Tracking via Evolutionary Optimization." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Download Paper