This repository contains the implementation of the suture-needle-tracking method proposed in this paper.

1. We provide a yaml file which includes all the dependencies and required packages. To create a conda environment with this file, run

   conda env create --file needle_tracking_env.yaml

2. Clone this repository and run

   cd suture-needle-tracking

We provide a test dataset here. After downloading the dataset, move the data folder into the project's base folder.

To run tracking on this dataset:

bash run.sh

@article{chiu2021markerless,
  title={Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery},
  author={Chiu, Zih-Yun and Liao, Albert Z and Richter, Florian and Johnson, Bjorn and Yip, Michael C},
  journal={arXiv preprint arXiv:2109.12722},
  year={2021}
}