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Related Concept Videos

Articulations of the Vertebral Column01:28

Articulations of the Vertebral Column

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In addition to being held together by the intervertebral discs, adjacent vertebrae also articulate with each other at synovial joints formed between the superior and inferior articular processes called zygapophysial joints (facet joints). These are plane joints that provide for only limited motions between the vertebrae. The orientation of the articular processes at these joints varies in different regions of the vertebral column and serves to determine the types of motions available in each...
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Uncertainty in Measurement: Reading Instruments02:46

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Counting is the type of measurement that is free from uncertainty, provided the number of objects being counted does not change during the process. Such measurements result in exact numbers. By counting the eggs in a carton, for instance, one can determine exactly how many eggs are there in the carton. Similarly, the numbers of defined quantities are also exact. For example, 1 foot is exactly 12 inches, 1 inch is exactly 2.54 centimeters, and 1 gram is exactly 0.001 kilograms. Quantities...
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Instrument Calibration01:12

Instrument Calibration

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Instrument calibration is essential for ensuring that instruments produce accurate and consistent results. It is vital in manufacturing, healthcare, testing laboratories, and scientific research. Calibration processes are specific to each instrument and help enhance data accuracy. Each instrument has a unique calibration process tailored to its design and function to improve data accuracy.
Analytical Balance Calibration
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Instrumentation Amplifier01:25

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An electrocardiography (ECG) machine is an essential piece of medical equipment used to monitor the electrical activity of the heart. It operates by detecting small electrical changes on the skin that result from the depolarization of the heart muscle during each heartbeat. However, these signals are in the microvolt range and can be easily overwhelmed by noise or interference.
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Instrument Transformers01:23

Instrument Transformers

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Instrument transformers, comprising voltage transformers (VTs) and current transformers (CTs), play crucial roles in power substations by providing isolated replicas of current or voltage for measurement and protection purposes. Voltage transformers reduce the primary voltage to levels suitable for relay operation and measurement, while current transformers scale down the primary current. The primary winding of a current transformer often consists of a single turn, achieved by threading the...
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What are Estimates?01:06

What are Estimates?

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It isn't easy to measure a parameter such as the mean height or the mean weight of a population. So, we draw samples from the population and calculate the mean height or mean weight of the individuals in the sample. This sample data acts as a representative measure of the population parameter. These sample statistics are known as estimates. 
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Related Experiment Video

Updated: Feb 11, 2026

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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3-D Pose Estimation of Articulated Instruments in Robotic Minimally Invasive Surgery.

M Allan, S Ourselin, D J Hawkes

    IEEE Transactions on Medical Imaging
    |May 5, 2018
    PubMed
    Summary

    This study presents an image-based method for estimating the 3-D pose of articulated surgical instruments, enhancing robotic surgery safety and automation. The technique achieves competitive accuracy using only visual data, without external tracking systems.

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    Area of Science:

    • Robotics
    • Computer Vision
    • Surgical Technology

    Background:

    • Accurate 3-D pose estimation of surgical instruments is crucial for robotic surgery automation and safety features like virtual fixtures.
    • Image-based methods offer a non-invasive, cost-effective alternative to external tracking systems.
    • Previous work focused on rigid 3-D pose estimation using silhouette and optical flow features.

    Purpose of the Study:

    • To extend previous work by incorporating articulated degrees-of-freedom (DOFs) for robotic instruments.
    • To develop a novel image-based method for estimating the full 3-D pose of articulated surgical instruments.
    • To validate the proposed technique using a calibrated ex-vivo study.

    Main Methods:

    • A gradient-based optimization framework was employed to estimate articulated DOFs.
    • The method utilizes silhouette and optical flow-based features for pose estimation.
    • Validation was performed using the da Vinci Research Kit (DVRK) robotic system in a calibrated ex-vivo setting.

    Main Results:

    • Quantitative analysis of errors for each DOF was conducted.
    • The proposed method demonstrated competitive accuracy compared to existing techniques.
    • The approach relies solely on image data, eliminating the need for external tracking or kinematic data from joint encoders.

    Conclusions:

    • The developed image-based method accurately estimates the 3-D pose of articulated surgical instruments.
    • This technique offers a viable, purely visual solution for enhancing robotic surgery.
    • The findings suggest potential for improved automation and safety in minimally invasive procedures.