SuPerPM: A Large Deformation-Robust Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data

no code implementations • 25 Sep 2023 • Shan Lin, Albert J. Miao, Ali Alabiad, Fei Liu, Kaiyuan Wang, Jingpei Lu, Florian Richter, Michael C. Yip

Thus, for tuning the learning model, we gather endoscopic data of soft tissue being manipulated by a surgical robot and then establish correspondences between point clouds at different time points to serve as ground truth.