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3D steering of a flexible needle by visual servoing

Alexandre Krupa 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
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.
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https://hal.inria.fr/hal-01057949
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Last modification on : Wednesday, June 16, 2021 - 3:42:03 AM
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  • HAL Id : hal-01057949, version 1

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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⟩

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