Robust Ultrasound-Based Visual Servoing for Beating Heart Intracardiac Surgery

Robust Ultrasound-Based Visual Servoing for Beating Heart Intracardiac Surgery

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, robusti...

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Bibliographische Detailangaben
Hauptverfasser: Vitrani, M.-A., Mitterhofer, H., Bonnet, N., Morel, G.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Engineering Sciences
Heart
Instruments
Probes
Robot sensing systems
Robotics and automation
Robustness
Stability analysis
Surgery
Ultrasonic imaging
Visual servoing
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Beschreibung
Zusammenfassung: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.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2007.363931