Visual Servoing as long as Automatic in addition to Uncalibrated Percutaneous Procedures Our Project Papers Introduction System

Visual Servoing as long as Automatic in addition to Uncalibrated Percutaneous Procedures Our Project Papers Introduction System www.phwiki.com

Visual Servoing as long as Automatic in addition to Uncalibrated Percutaneous Procedures Our Project Papers Introduction System

Freyer, Dan, Contributing Writer has reference to this Academic Journal, PHwiki organized this Journal Visual Servoing as long as Automatic in addition to Uncalibrated Percutaneous Procedures Ming Li Computer Integrated Surgery II 600.446 2000/3/13 Our Project Minimally Invasive approach to pelvic osteolysis cannula patient Papers Visual Servoing as long as Automatic in addition to Uncalibrated Percutaneous Procedures M. H. Loser, N. Navab, B. Bascle, R. H. Taylor Proceedings of the Computer Vision in addition to Pattern Recognition (CVPR’00) Motion-Based Robotic Instrument Targeting under C-Arm Fluoroscopy A Patriciu, D Stoianovici, L. L. Whitcomb, T. Jarrett, D. Mazilu, A. Stanimir, I. Iordachita, J. Anderson, R. H. Taylor, L. R. Kavoussi Proceedings of MICCAI’00 A system as long as Percutaneous Delivery of Treatment with a Fluoroscopically-Guided Robot S. Schreiner, J. H. Anderson, R.H.Taylor, J. Funda, A. Bzostek, A. C. Barnes Proceedings of CVMR in addition to MRCAS1997

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Introduction Abstract: Using projective geometry in addition to visual servoing to realize image based approach as long as semi-automatically guidance of a needle or surgical tool during percutaneous procedures Advantage: 1. No need to pre-operative register 2. No need to use bi-planar X-ray systems 3. No need to calibrate the system prior to use System Uniplanar X-ray fluoroscope Preoperative procedure: 1. Identify lesion on the X-ray image 2. Choose appropriate insertion point 3. Move robot to place the needle tip at the chosen insertion point S E T u v Image plane Method as long as Uncalibrated Needle Placement Step 1:

Method (cont.) Step 2: Rotate needle around insert point in second plane 2 Needle Pose N2 step1+step2 1 Method (cont.) Step 3: Rotate C-arm to an arbitrary different orientation Move needle in 1 needle pose N3, N3: is the desired 3D pose that aligns the needle with the target in 3D. Method (cont.) Step 4: Measure the required insertion depth Use 2 marker ball M1, M2

Visual Servo Control Law = ’- < 0.2 Proportional control law: = = f() Experiment 1. Needle placement with CCD-imaging Experiment (cont.) 2. Needle placement with X–ray-imaging Result Results with CCD-image target: diameter 4mm distance: 60mm Remaining deviation of needle in x’,z’ coordinates after alignment Remaining deviation between needle-axis in addition to target after alignment (60 trials) Error in depth estimation after the alignment process Result Results with X-ray imaging Conclusion A simple in addition to accurate method as long as semi-automatic needle placement, using visual servoing in addition to principles of projective geometry Few Human interaction No stereotactic frame in addition to no prior calibration An alternative to other needle placement technique, which require cumbersome in addition to time consuming calibration procedures Freyer, Dan Sat Magazine Contributing Writer www.phwiki.com

Freyer, Dan Contributing Writer

Freyer, Dan is from United States and they belong to Sat Magazine and they are from  Sonoma, United States got related to this Particular Journal. and Freyer, Dan deal with the subjects like Satellite Technology

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