Visual Servoing-based Registration of Multimodal Images

M. Ourak, B. Tamadazte, N. Andreff, E. Marchand

Abstract

This paper deals with mutual information-based numerical and physical registration of white light images vs. fluorescence images for microrobotic laser microphonosurgery of the vocal folds. More precisely, it presents two techniques: a numerical registration of multimodal images and a vision feedback control for positioning an endoscope with regards to a preoperative image (fluorescence image). Nelder-Mead Simplex for nonlinear optimization is used to minimize the cost-function. The proposed methods are successfully validated in an experimental set-up using preoperative fluorescence images and real-time white light images of the vocal folds.

References

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Paper Citation


in Harvard Style

Ourak M., Tamadazte B., Andreff N. and Marchand E. (2015). Visual Servoing-based Registration of Multimodal Images . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 44-51. DOI: 10.5220/0005528900440051


in Bibtex Style

@conference{icinco15,
author={M. Ourak and B. Tamadazte and N. Andreff and E. Marchand},
title={Visual Servoing-based Registration of Multimodal Images},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={44-51},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005528900440051},
isbn={978-989-758-123-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Visual Servoing-based Registration of Multimodal Images
SN - 978-989-758-123-6
AU - Ourak M.
AU - Tamadazte B.
AU - Andreff N.
AU - Marchand E.
PY - 2015
SP - 44
EP - 51
DO - 10.5220/0005528900440051