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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| creator | Vitrani, M.-A. Mitterhofer, H. Bonnet, N. Morel, G. |
| description | 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. |
| doi_str_mv | 10.1109/ROBOT.2007.363931 |
| format | Conference Proceeding |
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| ispartof | Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007, p.3021-3027 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_4209549 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Engineering Sciences Heart Instruments Probes Robot sensing systems Robotics and automation Robustness Stability analysis Surgery Ultrasonic imaging Visual servoing |
| title | Robust Ultrasound-Based Visual Servoing for Beating Heart Intracardiac Surgery |
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