Visual servoing of a robotic endoscope holder based on surgical instrument tracking.
Anthony AgustinosRémi WolfJean-Alexandre LongPhilippe CinquinSandrine VorosPublished in: BioRob (2014)
Keyphrases
- surgical instruments
- visual servoing
- laparoscopic surgery
- visual feedback
- surgical tools
- mobile robot
- minimally invasive surgery
- surgical robot
- real time
- robotic arm
- vision system
- end effector
- image based visual servoing
- parallel robot
- robot control
- control law
- intraoperative
- degrees of freedom
- image guided surgery
- trajectory tracking
- robotic systems
- robot motion
- beating heart
- soft tissue
- path planning
- camera motion
- robot assisted
- image space
- tissue deformation
- control system
- computer vision
- dynamic environments
- surgical training
- minimally invasive
- model free