Abstract : This paper presents a robotic control method for 3D steering of a beveled-tip flexible needle. The solution is based on a new duty- cycling control strategy that makes possible to control three degrees of freedom of the needle. A visual servoing control scheme using two or- thogonal cameras observing a translucent phantom is then proposed to automatically steer a needle toward a 3D target point. Experimental results show a final positioning error of 0.4 mm and demonstrate the feasibility of this promising approach and its robustness to model errors.
https://hal.inria.fr/hal-01057949 Contributor : Eric MarchandConnect in order to contact the contributor Submitted on : Monday, August 25, 2014 - 4:42:06 PM Last modification on : Thursday, January 20, 2022 - 4:13:12 PM Long-term archiving on: : Thursday, November 27, 2014 - 3:16:14 PM
Alexandre Krupa. 3D steering of a flexible needle by visual servoing. Int. Conf. on Medical Image Computing and Computer Assisted Intervention, MICCAI 2014, Sep 2014, Boston, United States. pp.480-487. ⟨hal-01057949⟩