In Vivo Demonstration of Photoacoustic Image Guidance and Robotic Visual Servoing for Cardiac Catheter-Based Interventions.
Michelle GrahamFabrizio AssisDerek AllmanAlycen WiacekEduardo A. GonzalezMardava GubbiJinxin DongHuayu HouSarah BeckJonathan ChrispinMuyinatu A. Lediju BellPublished in: IEEE Trans. Medical Imaging (2020)
Keyphrases
- image guidance
- visual servoing
- beating heart
- minimally invasive
- mobile robot
- respiratory motion
- image based visual servoing
- robot control
- image guided
- vision system
- robotic systems
- clinical applications
- surgical procedures
- intraoperative
- augmented reality
- end effector
- image reconstruction
- control law
- real time
- radiation therapy
- camera motion
- motion compensation
- image space
- path planning
- dynamic environments
- autonomous robots
- ultrasound images
- multi robot
- pre operative
- closed loop
- pose estimation
- minimally invasive surgery
- x ray
- video tracking
- medical images