Drape-Compatible Tool-Tip Localization for Hand-Held Laparoscopic Instruments via UWB Carrier-Phase Ranging and Trocar-Constrained Geometry

arXiv:2609.39129 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Terminology

• Accuracy — 4× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Arbiter — 2× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• RCM Constraint-Consistent Dynamic Control in Surgical Robots

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