Towards Ultrasound-based Visual Servoing using Shearlet Coefficients.
Résumé
This paper deals with the development of a new
6 degrees-of-freedom (DOF) vision-based controller for robotassisted
medical applications. The main objective is to use
visual information extracted from Ultrasounds (US) images to
control an US probe held by a robot. Instead of the conventional
use of visual features e.g., geometric features (points, lines,
moments, etc.) in the visual control law design, the described
method uses the shearlet coefficients. More precisely, the
time-variation of the coarsest level of shearlet decomposition
coefficients are linked to the US probe (respectively to the
robot) spatial velocity and then related to the task-function
control law. The proposed control law was experimentally
tested and validated using a realistic abdominal phantom.
The obtained results demonstrated promising performances in
terms of accuracy, repeatability, robustness and convergence
behavior.
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