Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound

  title={Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound},
  author={Paul M. Novotny and Jeffrey A. Stoll and Pierre E. Dupont and Robert D. Howe},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
This paper presents a robotic system capable of using three-dimensional ultrasound to guide a surgical instrument to a tracked target location. Tracking of both the surgical instrument and target was done using image based algorithms on the real-time 3D ultrasound data. The tracking techniques are shown to be especially amenable for execution on powerful… CONTINUE READING

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