Intraoperatively Iterative Hough Transform Based In-plane Hybrid Control of Arterial Robotic Ultrasound for Magnetic Catheterization
Zhengyang Li,Magejiang Yeerbulati,Qingsong Xu,Zhengyang Li,Magejiang Yeerbulati,Qingsong Xu
This paper presents an intraoperatively iterative Hough transform (IHT) based in-plane hybrid control of extracorporeal ultrasound (US) guided magnetic catheterization for arterial intervention. One uniqueness lies in that both control and tracking of the arterial robotic ultrasound end-effector have been implemented to improve performance. Firstly, the magnetic catheter model and hybrid visual/fo...
