Title :
Robust Ultrasound-Based Visual Servoing for Beating Heart Intracardiac Surgery
Author :
Vitrani, Marie-Aude ; Mitterhofer, Hubert ; Bonnet, Nicolas ; Morel, Guillaume
Author_Institution :
Lab. de Robotique de Paris, Univ. Pierre et Marie Curie, Fontenay-aux-Roses
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.
Keywords :
biomedical ultrasonics; cardiology; control engineering computing; manipulators; medical computing; medical robotics; stability; surgery; ultrasonic imaging; visual servoing; beating heart intracardiac surgery; robot manipulation; stability analysis; ultrasound-based visual servoing; visual sensor; Heart; Instruments; Probes; Robot sensing systems; Robotics and automation; Robustness; Stability analysis; Surgery; Ultrasonic imaging; Visual servoing;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363931
