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ICRA
2007
IEEE

Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound

8 years 11 months ago
Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound
— This paper presents a robotic system capable of using three-dimensional ultrasound to guide a surgical instrument to a tracked target location. Tracking of both the surgical instrument and target was done using image based algorithms on the real-time 3D ultrasound data. The tracking techniques are shown to be especially amenable for execution on powerful graphics processor units. By harnessing a graphics card, it was possible to detect both a surgical instrument and a surgical target at a rate of 25 Hz. The high update rate permits the use of tracked instrument and target locations for controlling a robot. Validation of the system was done in a water tank, where the robot moved the instrument to the target site
Paul M. Novotny, Jeffrey A. Stoll, Pierre E. Dupon
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Paul M. Novotny, Jeffrey A. Stoll, Pierre E. Dupont, Robert D. Howe
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