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Conference Papers Year : 2006

A robust ultrasound-based visual servoing approach for automatic guidance of a surgical instrument with in vivo experiments

Abstract

This paper presents a visual servoing approach for automatic guidance of an instrument. In this approach , the visual sensor is an ultrasound probe that observes an instrument inserted inside the beating heart of a patient and manipulated by a robot. Following the preliminary results presented in [ 1 ] , the present paper provides a new parameterization of the visual feature signal that allows for enhanced robustness , and shows the first in vivo results on this ongoing research .
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Dates and versions

hal-01170702 , version 1 (02-07-2015)

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Marie-Aude Vitrani, Guillaume Morel, Nicolas Bonnet, Mourad Karouia. A robust ultrasound-based visual servoing approach for automatic guidance of a surgical instrument with in vivo experiments. The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., Feb 2006, Pisa, Italy. pp.35-40, ⟨10.1109/BIOROB.2006.1639056⟩. ⟨hal-01170702⟩
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