Background Autonomous control of surgical robotic platforms may offer enhancements such
as higher precision, intelligent manoeuvres, tissue‐damage avoidance, etc. Autonomous …

A new visual servoing method based on B-mode ultrasound images is proposed to
automatically control the motion of a 2D ultrasound probe held by a medical robot in order to …

This paper presents a robust visual servoing approach for automatic guidance of an
instrument. The visual sensor is an ultrasound probe that observes an instrument which is …

We propose a new visual servo approach to automatically control in real-time the full motion
of a 2D ultrasound (US) probe held by a medical robot in order to reach a desired image of …

La synthèse de lois de commande efficaces apparaît comme un enjeu important dans la
réalisation autonome de tâches de navigation robotiques. Ce problème peut être abordé par …

Ces travaux de thèse s' inscrivent dans le cadre de l'assistance robotisée pour la chirurgie
cardiaque à coeur battant. Une première contribution est la synthèse d'une nouvelle …

This chapter provides the basics for understanding visual servoing. X‐ray imagers. It focuses
on the conventional visual sensors such as charge coupled device (CCD) or complementary …

In recent years, there has been an increasing interest in developing systems that couple a
robotic device with an ultrasound imager. Applications range from automatic probe …

One of the main goals of surgical robotics has always relied on developing a robotized
platform to allow the surgeon make an intervention alone, which is also known as the co …

Les robots légers utilisés pour la télé-échographie robotisée permettent, à l'expert médical,
d'orienter à distance une sonde ultrasonore 2D. L'analyse en temps réel de l'image …