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Theses

Asservissement Visuel à partir d'Images Echographiques. Application à la chirurgie intra-cardiaque.

Abstract : The goal of this research is to propose a robotic system to assist a surgeon performing ultrasound-guided interventions. To this aim, a system exploiting ultrasound-based visual servoing is developed, thanks to which the surgeon can select the desired position of an instrument in an ultrasound image. The robot then automatically moves the instrument toward the specified position. The considered application is the repair of a mitral valve in beating heart surgery. The principal contributions of this work are the modeling of the ultrasound system, the modeling of the robotic system and its control. Several control laws using an inverse kinematic model are then proposed. They are evaluated through stability analysis by the indirect method of Lyapunov and simulations. Lastly, the proposed system is implemented and validated through experiments in vitro and in vivo on pig during beating heart surgery.
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https://tel.archives-ouvertes.fr/tel-00188463
Contributor : Marie-Aude Vitrani <>
Submitted on : Saturday, November 17, 2007 - 10:43:09 AM
Last modification on : Wednesday, December 9, 2020 - 3:09:13 PM
Long-term archiving on: : Monday, April 12, 2010 - 2:31:46 AM

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  • HAL Id : tel-00188463, version 1

Citation

Marie-Aude Vitrani. Asservissement Visuel à partir d'Images Echographiques. Application à la chirurgie intra-cardiaque.. Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2006. Français. ⟨tel-00188463⟩

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