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.
Type de document :
Communication dans un congrès
Int. Conf. on Medical Image Computing and Computer Assisted Intervention, MICCAI 2014, Sep 2014, Boston, United States. pp.480-487, 2014
https://hal.inria.fr/hal-01057949
Contributeur : Eric Marchand
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Soumis le : lundi 25 août 2014 - 16:42:06
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : jeudi 27 novembre 2014 - 15:16:14
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, 2014. 〈hal-01057949〉
