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Toward Ultrasound-based Visual Servoing using Shearlet Coefficients

Abstract : This paper deals with the development of a new 6 degrees-of-freedom (DOF) vision-based controller for robot-assisted medical applications. The main objective is to use visual information extracted from Ultrasounds (US) images to control an US probe held by the robot. Instead of the conventional use of visual features e.g., geometric features (points, lines, moments, etc.) in the visual control law design, the described method use the shearlet coefficients. More precisely, the time-variation of the coarsest level of shearlet decomposition coefficients are linked to the US probe (respectively to the robot) spatial velocity and then related to the task-function control law. The proposed control law was experimentally tested and validated using a realistic abdominal phantom. The obtained results demonstrated promising performances in terms of accuracy, repeatability, robustness and convergence behavior.
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https://hal.inria.fr/hal-01304753
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Submitted on : Wednesday, April 20, 2016 - 11:57:28 AM
Last modification on : Friday, April 2, 2021 - 3:39:39 AM
Long-term archiving on: : Tuesday, November 15, 2016 - 7:07:04 AM

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  • HAL Id : hal-01304753, version 1

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Lesley-Ann Duflot, Alexandre Krupa, Brahim Tamadazte, Nicolas Andreff. Toward Ultrasound-based Visual Servoing using Shearlet Coefficients. IEEE Int. Conf. on Robotics and Automation, ICRA'16, May 2016, Stockholm, Sweden. ⟨hal-01304753⟩

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