Abstract
This paper presents a robotic control method for 3D steering of a beveled-tip flexible needle. The solution is based on a new duty-cycling control strategy that makes possible to control three degrees of freedom of the needle. A visual servoing control scheme using two orthogonal cameras observing a translucent phantom is then proposed to automatically steer a needle toward a 3D target point. Experimental results show a final positioning error of 0.4 mm and demonstrate the feasibility of this promising approach and its robustness to model errors.
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Krupa, A. (2014). 3D Steering of a Flexible Needle by Visual Servoing. In: Golland, P., Hata, N., Barillot, C., Hornegger, J., Howe, R. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2014. MICCAI 2014. Lecture Notes in Computer Science, vol 8673. Springer, Cham. https://doi.org/10.1007/978-3-319-10404-1_60
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DOI: https://doi.org/10.1007/978-3-319-10404-1_60
Publisher Name: Springer, Cham
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