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Visual servoing is a possible solution to assist the surgeon in performing tasks under ultrasound (US) imaging. To this aim, a system was developed that allows the surgeon to select a desired instrument location on a US image. Then a robot is programmed to automatically move the instrument towards the selected location. This approach requires robust(More)
Force-feedback mechanisms have been designed to simplify and enhance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. By consolidating various controls into a single, haptic feedback control device, information can be transmitted to the(More)
Minimally invasive surgery in combination with ultrasound (US) imaging imposes high demands on the sur geon’s hand-eye-coordination capabilities. A possible solution to reduce these requirements is minimally invasive robotic surgery in which the instrument is guided by visual servoing towards the goal defined by the surgeon in the US image. This(More)
—A robotic device, aimed at assisting a urologist in positioning an endorectal ultrasound probe to perform prostate biopsies , is presented. The proposed system is a comanipulator that holds the probe simultaneously with the urologist. This robot supports two modes of operation: the free mode, where the entire movement control is left to the urologist when(More)
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 inserted into the beating heart of a patient and manipulated by a robot. The present paper provides stability analysis, robustification of the control law and an in vivo experiment.
In this paper, the concept of ultrasound image-based force enhancement is introduced. It consists of a robotic comanipulation system that assists a surgeon performing an ultrasound exam through a minimally invasive access. The robot is programmed in such a way that the surgeon's feeling of the distal contact between the probe and the organ is enhanced,(More)
Force-feedback mechanisms have been designed to simplify and enhance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. By consolidating various controls into a single, haptic feedback control device, information can be transmitted to the(More)
Context Prostate biopsy is the only examination that enables urologists to diagnose prostate cancer. It consists in taking off samples of the gland using a biopsy needle that slides in a needle-guide rigidly attached to a transrectal ultrasound probe. In clinical routine twelve systematic biopsies are distributed in the prostate volume and additional(More)
This paper describes results about the development of a repeatable and configurable robotic finger designed to pluck harp strings. Eventually, this device will be a tool to study string instruments in playing conditions. We use a classical robot with two degrees of freedom enhanced with silicone fingertips. The validation method requires a comparison with(More)