{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T19:05:00Z","timestamp":1773860700540,"version":"3.50.1"},"reference-count":30,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2024,5,24]],"date-time":"2024-05-24T00:00:00Z","timestamp":1716508800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51721003"],"award-info":[{"award-number":["51721003"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52175028"],"award-info":[{"award-number":["52175028"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004517","name":"Tianjin University","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004517","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Robotics Computer Surgery"],"published-print":{"date-parts":[[2024,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:sec><jats:title>Background<\/jats:title><jats:p>Accurately estimating the 6D pose of snake\u2010like wrist\u2010type surgical instruments is challenging due to their complex kinematics and flexible design.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>We propose ERegPose, a comprehensive strategy for precise 6D pose estimation. The strategy consists of two components: ERegPoseNet, an original deep neural network model designed for explicit regression of the instrument's 6D pose, and an annotated in\u2010house dataset of simulated surgical operations. To capture rotational features, we employ an Single Shot multibox Detector (SSD)\u2010like detector to generate bounding boxes of the instrument tip.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>ERegPoseNet achieves an error of 1.056\u00a0mm in 3D translation, 0.073\u00a0rad in 3D rotation, and an average distance (ADD) metric of 3.974\u00a0mm, indicating an overall spatial transformation error. The necessity of the SSD\u2010like detector and L1 loss is validated through experiments.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusions<\/jats:title><jats:p>ERegPose outperforms existing approaches, providing accurate 6D pose estimation for snake\u2010like wrist\u2010type surgical instruments. Its practical applications in various surgical tasks hold great promise.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.2640","type":"journal-article","created":{"date-parts":[[2024,5,25]],"date-time":"2024-05-25T06:23:38Z","timestamp":1716618218000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["ERegPose: An explicit regression based 6D pose estimation for snake\u2010like wrist\u2010type surgical instruments"],"prefix":"10.1002","volume":"20","author":[{"given":"Jinhua","family":"Li","sequence":"first","affiliation":[{"name":"Key Lab for Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical Engineering, Tianjin University  Tianjin China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-6348-1030","authenticated-orcid":false,"given":"Zhengyang","family":"Ma","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, 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