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Conference Papers Year : 2015

Visual Servoing-based Registration of Multimodal Images

Abstract

This paper deals with mutual information-based numerical and physical registration of white light images vs. fluorescence images for microrobotic laser microphonosurgery of the vocal folds. More precisely, it presents two techniques: a numerical registration of multimodal images and a vision feedback control for positioning an endoscope with regards to a preoperative image (fluorescence image). Nelder-Mead Simplex for nonlinear optimization is used to minimize the cost-function. The proposed methods are successfully validated in an experimental setup using preoperative fluorescence images and real-time white light images of the vocal folds.
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Dates and versions

hal-01159881 , version 1 (04-06-2015)

Identifiers

  • HAL Id : hal-01159881 , version 1

Cite

Mohamed Ourak, Brahim Tamadazte, Nicolas Andreff, Eric Marchand. Visual Servoing-based Registration of Multimodal Images. International Conference on Informatics in Control, Automation and Robotics, Jul 2015, Colmar, France. ⟨hal-01159881⟩
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