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A 500 Hz predictive visual servoing scheme to mechanically filter complex repetitive organ motions in robotized surgery.
Romuald Ginhoux
Jacques Gangloff
Michel de Mathelin
Luc Soler
Joël Leroy
Jacques Marescaux
Published in:
IROS (2003)
Keyphrases
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visual servoing
laparoscopic surgery
visual feedback
image based visual servoing
vision system
mobile robot
computer assisted
medical images
video sequences
camera motion
image sequences
control law
robot control
least squares
path planning
image space
robotic arm
robot assisted
optical flow