• DOI:10.1109/ICRA.2017.7989412
Corpus ID: 3702660

Autonomous scanning for endomicroscopic mosaicing and 3D fusion

@article{Zhang2017AutonomousSF,
  title={Autonomous scanning for endomicroscopic mosaicing and 3D fusion},
  author={L. Zhang and Menglong Ye and P. Giataganas and Michael Hughes and G. Yang},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={3587-3593}
}

• L. Zhang, Menglong Ye, +2 authors G. Yang
• Published 2017
• Computer Science
• 2017 IEEE International Conference on Robotics and Automation (ICRA)

Robot-assisted minimally invasive surgery can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex, undulating tissue surface to enhance the effective field-of-view through video mosaicing. In this paper, the da Vinci® surgical robot, through the dVRK framework, is used for autonomous scanning and 2D mosaicing over a user-defined region of interest. To achieve the level… Expand

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