KRUPA , Alexandre

The objective of our research work is to control in a visual closed-loop manner the full motion of a 2D (US) ultrasound probe actuated by a medical robot in order to reach and track a desired cross-section image. Considering the ultrasound modality in visual servoing is not an easy task since an US probe differs strongly from a camera. In fact,...

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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...

We present a method for three dimensional steer- ing of a beveled-tip flexible needle that can be used in medical robotics for percutaneous assistance procedures. The proposed solution is based on the design of a new duty-cycling control strategy that makes possible to control three degrees of freedom (DOFs) of the needle tip. These DOFs...