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

Author

Vitrani, Marie-Aude ; Morel, Guillaume ; Bonnet, Nicolas ; Karouia, Mourad

Author_Institution

Lab. de Robotique de Paris, Univ. Pierre et Marie Curie, Paris

fYear

2006

fDate

20-22 Feb. 2006

Firstpage

35

Lastpage

40

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, 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

Keywords

biomedical ultrasonics; cardiology; medical computing; medical robotics; position control; robot vision; servomechanisms; surgery; automatic guidance; heart beat; in vivo experiments; surgical instrument; surgical robotics; ultrasound imaging; ultrasound probe; ultrasound-based visual servoing approach; visual sensor; Automatic control; In vivo; Needles; Probes; Robot kinematics; Robotics and automation; Robustness; Surgical instruments; Ultrasonic imaging; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on

Conference_Location

Pisa

Print_ISBN

1-4244-0040-6

Type

conf

DOI

10.1109/BIOROB.2006.1639056

Filename

1639056