Visual Servoing in Surgical Robotics

Syed Zill-e-Hussnain, Nicolas Andreff, Sounkalo Dembélé, FEMTO-ST Institute, France

Laser phonomicrosurgery is a surgical approach based on the use of laser to perform incision of larynx tissue. Micro-robotics gives the opportunity to improve this approach by enabling precise control of laser spot to follow target trajectory on tissue. This work deals with vision based control of laser spot. A review of control approach achieved that includes a description of open loop control, when the 3D position of spot on tissue is not controlled and closed loop when it is controlled.