Research of Automatic Needle Locating Based on Stereo Visual Servoing

被引：1

作者：

Lv, Sheng ^{[1
]}

Zhang, Dongwen ^{[1
]}

Gu, Jia ^{[1
]}

机构：

[1] Chinese Acad Sci, Shenzhen Inst Adv Technol, Shenzhen, Peoples R China

来源：

2010 3RD INTERNATIONAL CONFERENCE ON BIOMEDICAL ENGINEERING AND INFORMATICS (BMEI 2010), VOLS 1-7 | 2010年

关键词：

automatic needle locating; stereo visual servoing; robot; PID;

D O I：

10.1109/BMEI.2010.5639891

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

Image guided needle operations (biopsy, targeted interventional treatment, etc) are minimally invasive medical treatments which have many prospects in clinical applications. The accuracy of needle insertion can significantly impact the validity of diagnostic procedures or the success rate of therapeutic treatments. For this, a needle driven system was designed to assist needle operations. Based on all the intrinsic and extrinsic parameters of the robot and cameras, a posture measurement method and an eye-to-hand based stereo visual servoing control scheme were put forward. Finally, simulation results demonstrated the effectiveness of the implemented method.

引用

页码：1779 / 1783

页数：5

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