Weakly calibrated stereoscopic visual servoing for laser steering: Application to phonomicrosurgery

Abstract

This paper deals with the study of a weakly calibrated multiview visual servoing control law for microrobotic laser phonomicrosurgery of the vocal folds. It consists of the development of an endoluminal surgery system for laser ablation and resection of cancerous tissues. More specifically, this paper focuses on the part concerning the control of the laser spot displacement during surgical interventions. To perform this, a visual control law based on trifocal geometry is designed using two cameras and a laser source (virtual camera). The method is validated on a realistic testbench and the straight point-to-point trajectories are demonstrated.

Visual servoing through mirror reflection

“…According to equation (17) we have (19) and finally,ṅn − nṅ being an anti-symmetric matrix, it can be demonstrated thaṫ…”

“…Few works considered mobile mirrors or a varying mirror/camera position. Laser steering application for microsurgery is reported in [19], [1]. A laser spot controlled thanks to the motion of a 2 d.o.f mirror is achieved using a stereo visual servoing approach.…”

Laser Beam Steering Along Three-Dimensional Paths

“…• a laser scanning mechatronic system, e.g., electrical motors, galvanometers, robotic arms, piezoelectric or magnetostrictive actuators [6]- [8], • a control law scheme which nowadays tends to be based on visual/optical feedback [9], [11], [12] or other efficient control schemes [10]. This paper focuses on the second point which concerns the development of a vision-based control scheme which must ensure the control, in a closed-loop scheme, of the laser beam (respectively, laser spot) motion.…”

Visual servoing from lines using a planar catadioptric system

“…Laser steering application for microsurgery is reported in [19], [2]. Whereas high speed visual servoing is concerned, some systems that consider mirrors, have been proposed to achieve high-speed gaze control: Saccade mirror [10], [9].…”