Robust ultrasound-based visual servoing for beating heart intracardiac surgery

被引：19
|
作者：
Vitrani, Marie-Aude [1 ]
Mitterhofer, Hubert [1 ]
Morel, Guillaume [1 ]
Bonnet, Nicolas [2 ]
机构：
[1] Univ Paris 06, Lab Robot Paris, 18 Route Panorama, F-92265 Fontenay Aux Roses, France
[2] Univ Paris 06, Pitie Salpetriere Hosp, Cardiac Surg Serv, F-75013 Paris, France
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363931
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：3021 / +
页数：2
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