Scanning the surface of soft tissues with a micrometer precision thanks to endomicroscopy based visual servoing.
Benoit RosaMustafa Suphi ErdenTom VercauterenJérôme SzewczykGuillaume MorelPublished in: IROS (2012)
Keyphrases
- visual servoing
- soft tissue
- elastic properties
- image based visual servoing
- vision system
- medical images
- finite element
- mobile robot
- material properties
- mass spring
- control law
- deformable models
- magnetic resonance
- robot control
- camera motion
- robotic arm
- image space
- end effector
- image processing
- automatic segmentation
- image registration
- visual feedback
- closed loop
- real time
- mass spring model