Two Dimensional Position-Based Visual Servoing for Soft Tissue Endomicroscopy.
Xingfeng XuRongnian TangLun GongBaojun ChenSiyang ZuoPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- soft tissue
- visual servoing
- end effector
- image based visual servoing
- medical images
- vision system
- finite element
- mobile robot
- deformable models
- robot control
- image registration
- maxillofacial surgery
- three dimensional
- control law
- magnetic resonance
- robotic arm
- camera motion
- image space
- soft tissue deformation
- minimally invasive surgery
- automatic segmentation
- mass spring
- position and orientation
- degrees of freedom
- human arm
- visual feedback
- closed loop
- motion planning
- machine learning
- image data
- learning algorithm