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This work proposes a novel markerless 3D tracking framework for continuum surgical tools using a proposed surgical tool partial pose estimation network (STPPE\u2010Net) based on U\u2010Net and ResNet. The STPPE\u2010Net estimates the segmentation and a 5\u2010DoF pose of the tool end\u2010effector. This network is entirely trained by a synthetic data generator based on domain randomization (DR) and requires zero manual annotation. The 5\u2010DoF pose estimation from the STPPE\u2010Net is combined with the surgical tool axial rotation from the robot control system. Then, the entire pose is further refined via a region\u2010based optimization that maximizes the overlap between the tool end\u2010effector segmentation from the STPPE\u2010Net and its projection onto the image plane of the endoscopic camera. The segmentation accuracy and 6\u2010DoF pose estimation precision of the proposed framework are validated on the images captured from an endoscopic single\u2010port system. The experimental results show the effectiveness and robustness of the proposed tracking framework for continuum surgical tools.<\/jats:p>","DOI":"10.1002\/aisy.202300434","type":"journal-article","created":{"date-parts":[[2024,3,1]],"date-time":"2024-03-01T22:44:50Z","timestamp":1709333090000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["A Markerless 3D Tracking Framework for Continuum Surgical Tools Using a Surgical Tool Partial Pose Estimation Network Based on Domain Randomization"],"prefix":"10.1002","volume":"6","author":[{"given":"Chang","family":"Zhou","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 200240 China"}]},{"given":"Longfei","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 200240 China"}]},{"given":"Baibo","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 200240 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1690-3370","authenticated-orcid":false,"given":"Kai","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 200240 China"}]}],"member":"311","published-online":{"date-parts":[[2024,3]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11684-020-0781-x"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2489500"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3110883"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910368147"},{"key":"e_1_2_9_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2314777"},{"key":"e_1_2_9_5_3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2664879"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969934"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMI.2014.2321777"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3003868"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abe5914"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abg9907"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3097260"},{"key":"e_1_2_9_12_1","unstructured":"M.Ye L.Zhang S.Giannarou G.\u2010Z.Yang presented atProc. 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