Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2005 IEEE International Conference on Robotics and Automation |
| Pages | 508-513 |
| Number of pages | 6 |
| Publication status | Published - 2005 |
| Externally published | Yes |
| Event | 2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 18 Apr 2005 → 22 Apr 2005 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| Volume | 2005 |
| ISSN (Print) | 1050-4729 |
Abstract
Visual servoing is a possible solution to assist the surgeon in performing tasks under ultrasound (US) imaging. To this aim, a system was developed that allows the surgeon to select a desired instrument location on a US image. Then a robot is programmed to automatically move the instrument towards the selected location. This approach requires robust tracking of the instrument in the US image, together with modeling of the overall system and implementation of a visual servoing loop. This paper presents geometrical and kinematic models of the system, as well as the control loop design, which is validated through both numerical simulations, and results of in vitro experiments.
Keywords
- Image-guided surgery, Ultrasound, Visual servoing
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Electrical and Electronic Engineering
Cite this
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Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 508-513 1570169 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Automatic Guidance of a Surgical Instrument with Ultrasound Based Visual Servoing
AU - Vitrani, Marie Aude
AU - Morel, Guillaume
AU - Ortmaier, Tobias
PY - 2005
Y1 - 2005
N2 - Visual servoing is a possible solution to assist the surgeon in performing tasks under ultrasound (US) imaging. To this aim, a system was developed that allows the surgeon to select a desired instrument location on a US image. Then a robot is programmed to automatically move the instrument towards the selected location. This approach requires robust tracking of the instrument in the US image, together with modeling of the overall system and implementation of a visual servoing loop. This paper presents geometrical and kinematic models of the system, as well as the control loop design, which is validated through both numerical simulations, and results of in vitro experiments.
AB - Visual servoing is a possible solution to assist the surgeon in performing tasks under ultrasound (US) imaging. To this aim, a system was developed that allows the surgeon to select a desired instrument location on a US image. Then a robot is programmed to automatically move the instrument towards the selected location. This approach requires robust tracking of the instrument in the US image, together with modeling of the overall system and implementation of a visual servoing loop. This paper presents geometrical and kinematic models of the system, as well as the control loop design, which is validated through both numerical simulations, and results of in vitro experiments.
KW - Image-guided surgery
KW - Ultrasound
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=33846183315&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570169
DO - 10.1109/ROBOT.2005.1570169
M3 - Conference contribution
AN - SCOPUS:33846183315
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 508
EP - 513
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -