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Document type:
Konferenzbeitrag
Author(s):
Chatelain, P.; Krupa, A.; Navab, N.
Title:
3D Ultrasound-Guided Robotic Steering of a Flexible Needle via Visual Servoing
Abstract:
We present a method for the three-dimensional (3D) steering of a flexible needle under 3D ultrasound guidance. The proposed solution is based on a duty-cycling visual servoing strategy we designed in a previous work, and on a new needle tracking algorithm for 3D ultrasound. The flexible needle modeled as a polynomial curve is tracked during automatic insertion using particle filtering. This new tracking algorithm enables real-time closed-loop needle control with 3D ultrasound feedback. Ex...     »
Keywords:
CAMP,IRISA,ICRA
Book / Congress title:
IEEE Int. Conf. on Robotics and Automation, ICRA'15
Publisher address:
Seattle, WA
Year:
2015
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