Name
Title | ||
|---|---|---|
Homography-based Visual Servoing with Remote Center of Motion for Semi-autonomous Robotic Endoscope Manipulation |
Abstract | ||
|---|---|---|
The dominant visual servoing approaches in Minimally Invasive Surgery (MIS) follow single points or adapt the endoscope’s field of view based on the surgical tools’ distance. These methods rely on point positions with respect to the camera frame to infer a control policy. Deviating from the dominant methods, we formulate a robotic controller that allows for image-based visual servoing that require... |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/ISMR48346.2021.9661563 | 2021 International Symposium on Medical Robotics (ISMR) |
Keywords | DocType | ISBN |
Jacobian matrices,Visualization,Tracking,Phantoms,Estimation,Cameras,Visual servoing | Conference | 978-1-6654-0622-2 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Martin Huber | 1 | 0 | 0.34 |
| John Bason Mitchell | 2 | 0 | 0.34 |
| Ross Henry | 3 | 0 | 0.34 |
| Sébastien Ourselin | 4 | 2499 | 237.61 |
| Tom Vercauteren | 5 | 1956 | 108.68 |
| Christos Bergeles | 6 | 97 | 13.28 |