This paper deals with multimodal imaging in the surgical robotics context. On the first hand, it addresses numerical registration of a preoperative image obtained by fluorescence with an intraoperative image grabbed by a conventional white-light endoscope. This registration involves displacement and rotation in the image plane as well as a scale factor. On the second hand, a method is developed to visually servo the endoscope to the preoperative imaging location. Both methods are original and dually based on the use of mutual information between a pair of fluorescence and white-light images and of a modified Nelder-Mead simplex algorithm. Numerical registration is validated on real images whereas visual servoing is validated experimentally in two set-ups: a planar microrobotic platform and a 6DOF parallel robot.
展开▼
