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Conference Papers Year : 2014

3D steering of a flexible needle by visual servoing


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 or- thogonal 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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Dates and versions

hal-01057949 , version 1 (25-08-2014)


  • HAL Id : hal-01057949 , version 1


Alexandre Krupa. 3D steering of a flexible needle by visual servoing. Int. Conf. on Medical Image Computing and Computer Assisted Intervention, MICCAI 2014, Sep 2014, Boston, United States. pp.480-487. ⟨hal-01057949⟩
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