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Proceedings Year : 2007

Robust Ultrasound-Based Visual Servoing for Beating Heart Intracardiac Surgery

Abstract

— This paper presents a robust visual servoing approach for automatic guidance of an instrument. The visual sensor is an ultrasound probe that observes an instrument which is inserted into the beating heart of a patient and manipulated by a robot. The present paper provides stability analysis , robustification of the control law and an in vivo experiment .
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Dates and versions

hal-01170711 , version 1 (02-07-2015)

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Marie-Aude Vitrani, Hubert Mitterhofer, Nicolas Bonnet, Guillaume Morel. Robust Ultrasound-Based Visual Servoing for Beating Heart Intracardiac Surgery. 2007, ⟨10.1109/ROBOT.2007.363931⟩. ⟨hal-01170711⟩
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