Visual servoing in medical robotics: a survey. Part I: endoscopic and direct vision imaging - techniques and applications

Azizian, Mahdi; Khoshnam, Mahta; Najmaei, Nima; Patel, Rajni V.

doi:10.1002/rcs.1531

Cited by 68 publications

(50 citation statements)

References 65 publications

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“…A robust and reliable tracking method for US images is not yet available. For a more detailed discussion of this challenging problem, see Part I .…”

Section: Resultsmentioning

confidence: 99%

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Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities - techniques and applications

Azizian

Najmaei

Khoshnam

et al. 2014

Int J Med Robotics Comput Assist Surg

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“…A robust and reliable tracking method for US images is not yet available. For a more detailed discussion of this challenging problem, see Part I .…”

Section: Resultsmentioning

confidence: 99%

“…Simulations were performed to show the efficacy of this technique for transapical valvuloplasty on a beating heart. The structure proposed in is a variation of configuration C [Figure 1c, Part I of the survey ].…”

Section: Methodsmentioning

confidence: 99%

Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities - techniques and applications

Azizian

Najmaei

Khoshnam

et al. 2014

Int J Med Robotics Comput Assist Surg

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“…There are some works in the literature that deal with the control and guidance of instruments using visual feedback, see [6] for a comprehensive survey on this topic. The singlecamera 3D positioning problem is addressed by Krupa et al in [7]; this work presents a method to regulate the distance between an instrument that continuously projects a laser pattern and an organ.…”

Section: Introductionmentioning

confidence: 99%

Robust image-based computation of the 3D position of RCM instruments and its application to image-guided manipulation

Navarro-Alarcon

Wang

Yip

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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In this paper, we address the 3D position control of RCM-constrained instruments with monocular cameras. To compute the instrument's position from a single 2D image, we develop an innovative gradient descent algorithm which rotates and translates a line segment (over the plane spanned by the imaged instrument and the optical centre) until it best aligns with the manipulated tool. In contrast with other approaches in the literature, our algorithm only requires to simultaneously observe two feature points; the proposed iterative algorithm is not based on the exact solution, therefore it can still work with noisy image measurements. We derive a kinematic controller that uses the proposed position estimator to guide the 3D motion of a robotic instrument with a monocular camera. We evaluate the performance of our approach with numerical simulations and experiments.

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“…In many cases, the robot’s performance depends heavily on its ability to obtain accurate information about the spatial positioning of the tools and the target. This positioning information may then be used as feedback in the robot’s motion control scheme [3], [4]. …”

Section: Introductionmentioning

confidence: 99%

Adaptive Kinematic Control of a Robotic Venipuncture Device Based on Stereo Vision, Ultrasound, and Force Guidance

Balter

Chen

Maguire³

et al. 2017

IEEE Trans. Ind. Electron.

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Robotic systems have slowly entered the realm of modern medicine; however, outside the operating room, medical robotics has yet to be translated to more routine interventions such as blood sampling or intravenous fluid delivery. In this paper, we present a medical robot that safely and rapidly cannulates peripheral blood vessels—a procedure commonly known as venipuncture. The device uses near-infrared and ultrasound imaging to scan and select suitable injection sites, and a 9-DOF robot to insert the needle into the center of the vessel based on image and force guidance. We first present the system design and visual servoing scheme of the latest generation robot, and then evaluate the performance of the device through workspace simulations and free-space positioning tests. Finally, we perform a series of motion tracking experiments using stereo vision, ultrasound, and force sensing to guide the position and orientation of the needle tip. Positioning experiments indicate sub-millimeter accuracy and repeatability over the operating workspace of the system, while tracking studies demonstrate real-time needle servoing in response to moving targets. Lastly, robotic phantom cannulations demonstrate the use of multiple system states to confirm that the needle has reached the center of the vessel.

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Visual servoing in medical robotics: a survey. Part I: endoscopic and direct vision imaging - techniques and applications

Abstract: The main challenges in using visual servoing for medical robotic applications are identified and potential future directions are suggested. 'Supervised automation of medical robotics' is found to be a major trend in this field.

Cited by 68 publications

References 65 publications

Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities - techniques and applications

Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities - techniques and applications

Robust image-based computation of the 3D position of RCM instruments and its application to image-guided manipulation

Adaptive Kinematic Control of a Robotic Venipuncture Device Based on Stereo Vision, Ultrasound, and Force Guidance

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