Visual Servoing for Intraoperative Positioning and Repositioning of Mobile C-arms.
Nassir NavabStefan WiesnerSelim BenhimaneEkkehard EulerSandro Michael HeiningPublished in: MICCAI (1) (2006)
Keyphrases
- visual servoing
- intraoperative
- surgical instruments
- computer assisted
- vision system
- mobile robot
- x ray
- image based visual servoing
- minimally invasive surgery
- camera motion
- control law
- pre operative
- ct data
- visual feedback
- image space
- robotic arm
- robot control
- minimally invasive
- image guided
- end effector
- brain surface
- total hip arthroplasty
- tissue deformation
- computer vision
- real time
- closed loop
- least squares
- state space
- control system
- image analysis
- biomechanical model
- video sequences