Visual Servoing Robotic Auxiliary Control of Endovascular Intervention Based on Microwire Bending Energy in DSA Image

EasyChair Preprint 9971

Abstract

This work presents a groundbreaking auxiliary visual servoing control approach for endovascular robotic intervention surgery. We integrated it into our robot system and validated its efficacy through experiments on a vascular phantom. Results demonstrate that the proposed auxiliary control can effectively mitigates excessive bending of the microwire during the intervention process.

Keyphrases: Endovascular Intervention Robot, Microwire Bending Energy, visual servoing

@booklet{EasyChair:9971,
  author    = {Jianjun Zhu and Cheng Wang and Zhongliang Li and Yongyang Huang and Zexin Chen and Sitong Teng and Ligong Lu and Gao-Jun Teng},
  title     = {Visual Servoing Robotic Auxiliary Control of Endovascular Intervention Based on Microwire Bending Energy in DSA Image},
  howpublished = {EasyChair Preprint 9971},
  year      = {EasyChair, 2023}}