Homography-based Visual Servoing with Remote Center of Motion for Semi-autonomous Robotic Endoscope Manipulation

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...

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Bibliografiske detaljer
Udgivet i:Int Symp Med Robot
Main Authors: Huber, Martin, Mitchell, John Bason, Henry, Ross, Ourselin, Sébastien, Vercauteren, Tom, Bergeles, Christos
Format: Artigo
Sprog:Inglês
Udgivet: 2021
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Article
Online adgang:https://ncbi.nlm.nih.gov/pmc/articles/PMC7616652/
https://ncbi.nlm.nih.gov/pubmed/39351396
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/ISMR48346.2021.9661563
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