Shearlet-based vs. Photometric-based Visual Servoing for Robot-assisted Medical Applications
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | Shearlet-based vs. Photometric-based Visual Servoing for Robot-assisted Medical Applications |
| Type de publication | Conference Paper |
| Year of Publication | 2016 |
| Auteurs | Duflot L-A, Krupa A, Tamadazte B, Andreff N |
| Conference Name | 2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016) |
| Publisher | IEEE; RSJ |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-1-5090-3762-9 |
| Résumé | This paper deals with the development of a visionbased controller for robot-assisted medical applications. It concerns the use of shearlet coefficients in case of ultrasounds (US) images as visual signal inputs and the design of the associated interaction matrix. The proposed controller was validated in both simulation and on an experimental test bench which consists of a robotic arm holding an US probe in contact with a realistic abdominal phantom. Also, the proposed control scheme was compared to the photometry-based visual servoing approach in order to evaluate its efficiency in different conditions of use (nominal and unfavorable conditions). |