Multimodal Image Registration and Visual Servoing

International audienceThis paper deals with multimodal imaging in the surgical robotics context. 1 On the first hand, it addresses numerical registration of a preoperative image obtained 2 by fluorescence with an intraoperative image grabbed by a conventional white-light 3 endoscope. This registration involves displacement and rotation in the image plane as 4 well as a scale factor. On the second hand, a method is developed to visually servo the 5 endoscope to the preoperative imaging location. Both methods are original and dually 6 based on the use of mutual information between a pair of fluorescence and white-light 7 images and of a modified Nelder-Mead simplex algorithm. Numerical registration is 8 validated on real images whereas visual servoing is validated experimentally in two 9 setups: a planar microrobotic platform and a 6DOF parallel robot