Intensity-based visual servoing for non-rigid motion compensation of soft tissue structures due to physiological motion using 4D ultrasound.
Deukhee LeeAlexandre KrupaPublished in: IROS (2011)
Keyphrases
- motion compensation
- soft tissue
- motion estimation
- visual servoing
- beating heart
- motion field
- robotic assisted
- image registration
- camera motion
- image based visual servoing
- motion vectors
- motion compensated
- video coding
- medical images
- vision system
- image sequences
- mobile robot
- tissue deformation
- finite element
- magnetic resonance
- motion model
- end effector
- video sequences
- optical flow
- control law
- cardiac motion
- minimally invasive surgery
- deformable models
- computer vision
- robotic arm
- visual feedback
- rigid motion
- image space
- mass spring
- computational complexity
- closed loop
- moving objects
- robot control
- mr images
- control system
- automatic segmentation
- medical imaging
- feature points
- minimally invasive
- motion tracking
- path planning
- image processing
- super resolution
- image quality
- machine learning