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laser (and any other application where a beam needs
be accurately swept over a surface), by essentially re-
moving the need for on-line estimation of the 3D sur-
face. Actually, if a dedicated surgeon-robot interface
is designed (Mattos and Caldwell, 2012) to define the
desired trajectory in the image, then the latter will ge-
ometrically contain a coherent description of the 3D
surface. And thus, the 3D information is not purely
and simply thrown away as it could seem but, rather,
it is implicitly used. The first obtained results of the
simulation validation shows the relevance of the pro-
posed approach. It provides a good convergence (ex-
ponential decay of the errors image) and robustness
with respect to the presence of noise in the sensor sig-
nals. In the future, we will work on demonstrating
the stability of the visual servoing control law and its
validation on a testbench which includes a camera, a
commercial laser and a micromirror equipped with a
two degree-of-freedom scanner from PI (Physical In-
struments Inc.). This is before considering validation
tests on anatomical specimens
ACKNOWLEDGEMENTS
This work was supported by µRALP, the EC
FP7 ICT Collaborative Project no. 288663
(http://www.microralp.eu), and by ACTION, the
French ANR Labex no. ”ANR-11-LABX-01-01”
(http://www.labex-action.fr).
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