F. Chaumette and S. Hutchinson, Visual servo control. I. Basic approaches, IEEE Robotics & Automation Magazine, vol.13, issue.4, pp.82-90, 2006.
DOI : 10.1109/MRA.2006.250573
URL : https://hal.archives-ouvertes.fr/inria-00350638

F. Chaumette and S. Hutchinson, Visual servo control. II. Advanced approaches [Tutorial], IEEE Robotics & Automation Magazine, vol.14, issue.1, pp.109-118, 2007.
DOI : 10.1109/MRA.2007.339609
URL : https://hal.archives-ouvertes.fr/inria-00350638

D. Uecker, L. Cheolwhan, Y. Wang, and Y. Wang, Automated instrument tracking in robotically assisted laparoscopic surgery, Journal of Image Guided Surgery, vol.1, issue.6, pp.308-325, 1995.
DOI : 10.1002/(SICI)1522-712X(1995)1:6<308::AID-IGS3>3.0.CO;2-E

A. Casal, J. Amat, and E. Laporte, Automatic guidance of an assistant robot in laparoscopic surgery, Proceedings of IEEE International Conference on Robotics and Automation, pp.895-900, 1996.
DOI : 10.1109/ROBOT.1996.503886

G. Wei, K. Arbter, and G. Hirzinger, Real-time visual servoing for laparoscopic surgery, IEEE Trans. in Engineering in Medecine and Biology, vol.16, issue.1, pp.40-45, 1997.

A. Krupa, J. Gangloff, C. Doignon, M. De-mathelin, G. Morel et al., Autonomous 3-d positioning of surgical instruments in robotized laparoscopic surgery using visual servoing, IEEE Transactions on Robotics and Automation, vol.19, issue.5, pp.842-853, 2003.
DOI : 10.1109/TRA.2003.817086

F. Nageotte, C. Doignon, M. De-mathelin, P. Zanne, and L. Soler, Circular needle and needle-holder localization for computer-aided suturing in laparoscopic surgery, Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display, pp.87-89, 2005.
DOI : 10.1117/12.595794

R. Ginhoux, J. Gangloff, M. De-mathelin, L. Soler, M. Sanchez et al., Active filtering of physiological motion in robotized surgery using predictive control, IEEE Transactions on Robotics, vol.21, issue.1, pp.67-79, 2005.
DOI : 10.1109/TRO.2004.833812

S. Voros, E. Orvain, L. Long, and P. Cinquin, Automatic detection of instruments in laparoscopic images: a first step towards high level command of robotized endoscopic holders, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., pp.11-12, 2007.
DOI : 10.1109/BIOROB.2006.1639240
URL : https://hal.archives-ouvertes.fr/hal-00385074

R. Duda and P. Hart, Use of the Hough transformation to detect lines and curves in pictures, Communication of the Association for Computing Machinery, pp.11-15, 1972.
DOI : 10.1145/361237.361242

N. Otsu, A Threshold Selection Method from Gray-Level Histograms, IEEE Transactions on Systems, Man, and Cybernetics, vol.9, issue.1, pp.62-66, 1979.
DOI : 10.1109/TSMC.1979.4310076

C. Albitar, P. Graebling, and C. Doignon, Robust Structured Light Coding for 3D Reconstruction, 2007 IEEE 11th International Conference on Computer Vision, pp.1-6, 2007.
DOI : 10.1109/ICCV.2007.4408982

C. Albitar, C. Doignon, and P. Graebling, Calibration of vision systems based on pseudo-random patterns, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.
DOI : 10.1109/IROS.2009.5354421

L. Ott, F. Nageotte, P. Zanne, and M. De-mathelin, Simultaneous Physiological Motion Cancellation and Depth Adaptation in Flexible Endoscopy, IEEE Transactions on Biomedical Engineering, vol.56, issue.9, pp.2322-2328, 2009.
DOI : 10.1109/TBME.2009.2024213

L. Ott, F. Nageotte, P. Zanne, and M. De-mathelin, Physiological motion rejection in flexible endoscopy using visual servoing and repetitive control : Improvements on non-periodic reference tracking and non-periodic disturbance rejection, 2009 IEEE International Conference on Robotics and Automation, pp.4233-4238, 2009.
DOI : 10.1109/ROBOT.2009.5152655

J. Gangloff, R. Ginhoux, M. De-mathelin, L. Soler, and J. Marescaux, Model predictive control for compensation of cyclic organ motions in teleoperated laparoscopic surgery, IEEE Transactions on Control Systems Technology, vol.14, issue.2, pp.235-246, 2006.
DOI : 10.1109/TCST.2005.863650

L. Cuvillon, J. Gangloff, M. De-mathelin, and A. Forgione, Towards robotized beating heart TECABG: Assessment of the heart dynamics using high-speed vision, Computer Aided Surgery, vol.11, issue.5, pp.267-277, 2006.
DOI : 10.1109/10.686791

M. Sauvée, A. Noce, P. Poignet, J. Triboulet, and E. Dombre, Motion estimation using endoscopic monocular vision system : from artificial landmarks to texture analysis, Biomedical Signal Processing and Constrol in the Special Issue : IFAC Symposia, pp.199-207, 2007.

A. Noce, S. Petit, J. Triboulet, and P. Poignet, Stereo-vision for 3D tracking of the beating heart, Proceedings of Computer-Aided Medical Interventions : tools and applications, pp.63-65, 2007.

R. Richa, P. Poignet, and C. Liu, Deformable motion tracking of the heart surface, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3997-4003, 2008.
DOI : 10.1109/IROS.2008.4650916
URL : https://hal.archives-ouvertes.fr/lirmm-00286414

G. Silveira and E. Malis, Real-time Visual Tracking under Arbitrary Illumination Changes, 2007 IEEE Conference on Computer Vision and Pattern Recognition, pp.1-6, 2007.
DOI : 10.1109/CVPR.2007.382993
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.99.2821

W. Bachta, P. Renaud, L. E. , A. Forgione, and J. Gangloff, experiments using a new robotized device, Computer Aided Surgery, vol.13, issue.5, pp.243-254, 2008.
DOI : 10.1109/9.29425

W. Bachta, P. Renaud, E. Laroche, and J. Gangloff, Cardiolock2: Parallel singularities for the design of an active heart stabilizer, 2009 IEEE International Conference on Robotics and Automation, pp.3839-3844, 2009.
DOI : 10.1109/ROBOT.2009.5152483

A. Ayadi, B. Bayle, P. Graebling, and G. J. , An image-guided robot for needle insertion in small animal. Accurate needle positioning using visual servoing., 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1453-1458, 2008.
DOI : 10.1109/IROS.2008.4650992

P. Abolmaesumi, S. Salcudean, W. Zhu, M. Sirouspour, and S. Dimaio, Image-guided control of a robot for medical ultrasound, IEEE Transactions on Robotics and Automation, vol.18, issue.1, pp.11-23, 2002.
DOI : 10.1109/70.988970

J. Hong, T. Dohi, M. Hashizume, K. Konishi, and N. Hata, An ultrasound-driven needle-insertion robot for percutaneous cholecystostomy, Physics in Medicine and Biology, vol.49, issue.3, pp.441-455, 2004.
DOI : 10.1088/0031-9155/49/3/007

D. Lee, N. Koizumi, K. Ota, S. Yoshizawa, A. Ito et al., Ultrasound-based visual servoing for lithotripsy, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07, pp.877-882, 2007.

J. Stoll, P. Novotny, R. Howe, and P. Dupont, Real-time visual servoing of a robot using three-dimensional ultrasound, IEEE Int. Conf. on Robotics and Automation, pp.2655-2660, 2007.

M. Vitrani, G. Morel, H. Mitterhofer, and N. Bonnet, Robust Ultrasound-Based Visual Servoing for Beating Heart Intracardiac Surgery, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.3021-3027, 2007.
DOI : 10.1109/ROBOT.2007.363931
URL : https://hal.archives-ouvertes.fr/hal-01170711

M. Sauvee, P. Poignet, and E. Dombre, Ultrasound Image-Based Visual Servoing of a Surgical Instrument Through Nonlinear Model Predictive Control, The International Journal of Robotics Research, vol.127, issue.6, 2008.
DOI : 10.1177/0278364907082269
URL : https://hal.archives-ouvertes.fr/lirmm-00189902

M. Vitrani and G. , Hand-eye self-calibration of an ultrasound image-based robotic system, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1179-1185, 2008.
DOI : 10.1109/IROS.2008.4651013
URL : https://hal.archives-ouvertes.fr/hal-01170721

A. Krupa, Automatic calibration of a robotized 3D ultrasound imaging system by visual servoing, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.4136-4141, 2006.
DOI : 10.1109/ROBOT.2006.1642338
URL : https://hal.archives-ouvertes.fr/inria-00350295

W. Bachta and A. Krupa, Towards ultrasound image-based visual servoing, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.4112-4117, 2006.
DOI : 10.1109/ROBOT.2006.1642334
URL : https://hal.archives-ouvertes.fr/inria-00350281

R. Mebarki, A. Krupa, and F. Chaumette, Image moments-based ultrasound visual servoing, 2008 IEEE International Conference on Robotics and Automation, pp.113-119, 2008.
DOI : 10.1109/ROBOT.2008.4543195
URL : https://hal.archives-ouvertes.fr/inria-00351872

R. Mebarki, A. Krupa, and F. Chaumette, Modeling and 3D local estimation for in-plane and out-of-plane motion guidance by 2D ultrasound-based visual servoing, 2009 IEEE International Conference on Robotics and Automation, pp.319-325, 2009.
DOI : 10.1109/ROBOT.2009.5152371
URL : https://hal.archives-ouvertes.fr/inria-00436757

A. Krupa, G. Fichtinger, and G. Hager, Real-time Motion Stabilization with B-mode Ultrasound Using Image Speckle Information and Visual Servoing, The International Journal of Robotics Research, vol.26, issue.4, 2009.
DOI : 10.1177/0278364909104066
URL : https://hal.archives-ouvertes.fr/inria-00436745

N. Navab, B. Bascle, M. Lose, B. Geiger, and R. Taylor, Visual servoing for automatic and uncalibrated needle placement for percutaneous procedures, Proceedings IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2000 (Cat. No.PR00662), pp.327-334, 2000.
DOI : 10.1109/CVPR.2000.854838

R. Belaroussi and G. , Visual Servoing for Patient Alignment in ProtonTherapy, Advances in Visual Computing, 4th International Symposium, ISVC 2008, pp.843-850, 2008.
DOI : 10.1109/34.667881

B. Maurin, B. Bayle, O. Piccin, J. Gangloff, M. De-mathelin et al., A Patient-Mounted Robotic Platform for CT-Scan Guided Procedures, IEEE Transactions on Biomedical Engineering, vol.55, issue.10, pp.2417-2425, 2008.
DOI : 10.1109/TBME.2008.919882

I. Bricault, N. Zemiti, E. Jouniaux, C. Fouard, E. Taillant et al., Light Puncture Robot for CT and MRI Interventions, IEEE Engineering in Medicine and Biology Magazine, vol.27, issue.3, pp.42-50, 2008.
DOI : 10.1109/EMB.2007.910262
URL : https://hal.archives-ouvertes.fr/hal-00387377

S. Tamaz, R. Gourdeau, A. Chanu, J. Mathieu, and S. Martel, Real-Time MRI-Based Control of a Ferromagnetic Core for Endovascular Navigation, IEEE Transactions on Biomedical Engineering, vol.55, issue.7, pp.1854-1863, 2008.
DOI : 10.1109/TBME.2008.919720

O. Felfoul, J. Mathieu, and S. Martel, Real-time positioning and tracking technique for endovascular untethered microrobots propelled by MRI gradients, 2009 IEEE International Conference on Robotics and Automation, pp.2693-2698, 2009.
DOI : 10.1109/ROBOT.2009.5152567