— 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)
—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 recent years, there has been an increasing interest in developing systems that couple a robotic device with an ultrasound imager. Applications range from automatic probe positioning to ultrasound image-based guidance of instruments. One issue in these systems is to determine, prior to the intervention, the localization of the probe with respect to the… (More)
— This paper presents a visual servoing approach for automatic guidance of an instrument. In this approach , the visual sensor is an ultrasound probe that observes an instrument inserted inside the beating heart of a patient and manipulated by a robot. Following the preliminary results presented in [ 1 ] , the present paper provides a new parameterization… (More)
— 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)
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)