Visual servoing in medical robotics

Visual Tracking using Kernel Projected Measurement and Log-Polar Transformation

Visual Servoing is generally contained of control and feature tracking. Study of previous methods shows that no attempt has been made to optimize these two parts together. In kernel based visual servoing method, the main objective is to combine and optimize these two parts together and to make an entire control loop. This main target is accomplished by using Lyapanov theory. A Lyapanov candidat...

Visual Torch Position Control Using Fuzzy-Servoing Controller for Arc Welding Process

In this paper, we propose a fuzzy-servoing controller method for automatic welding. The proposed method uses a vision based arc tracking to find the initial points of the weld seam and to track them without a prior knowledge. Due to a serious melt down in the weld pool during the welding process, the method requires to control the welding torch in two directions, up-down and left-right directio...

Ultrasound Image-Based Visual Servoing of a Surgical Instrument Through Nonlinear Model Predictive Control

Ultrasound image-guided interventions are widespread in surgery because of the non-invasive character of the procedures. However, hand/eye synchronization is relatively difficult for a surgeon. Ultrasound image-based visual servoing is one way to perform this kind of surgery. In this work, the control of instrument motion based on ultrasound images through nonlinear model predictive control is ...

Handbook of Robotics Chapter 24 : Visual servoing and visual tracking

Mimetic visual servoing with adaptive neural network (ANN)

In this paper we present a model free hybrid visual servoing system. The “model free” term refers to the system with the unknown kinematics model that has to be estimated on-line, while “hybrid” specifies the visual controller architecture. The proposed system has a conventional Jacobian estimation part necessary for control output generation and it is supplemented with an additional adaptive n...