Homography-based Visual Servoing with Remote Center of Motion for Semi-autonomous Robotic Endoscope Manipulation

1 code implementation • 25 Oct 2021 • Martin Huber, John Bason Mitchell, Ross Henry, Sébastien Ourselin, Tom Vercauteren, Christos Bergeles

Our approach allows a surgeon to build a graph of desired views, from which, once built, views can be manually selected and automatically servoed to irrespective of robot-patient frame transformation changes.

Image Registration