Robust Ultrasound-Based Visual Servoing for Beating Heart Intracardiac Surgery
Résumé
— 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 .
Domaines
Sciences de l'ingénieur [physics]
Origine : Fichiers produits par l'(les) auteur(s)