Communication Dans Un Congrès Année : 2026

Hybrid Visual Servoing for Robotic Assistance in ENT Microsurgery: A Case Study on Middle Ear Access

Résumé

This paper introduces a robotic assistance system for minimally invasive middle ear surgery, focusing on precise access to the tympanic membrane. The system combines a 7degree-of-freedom robotic arm with a hybrid visual servoing framework that integrates position-based and image-based control strategies. Dual visual feedback from a color camera and an endoscope enables robust 6-DoF pose estimation and sub-millimetric tool guidance. A model-based tracker and blob detection ensure accurate alignment and targeting, while a Quadratic Programming controller enforces safety constraints such as maintaining the field of view. The approach is validated through simulations and real-world experiments, demonstrating high accuracy, robustness to anatomical variability, and suitability for clinical integration. This work advances robotic microsurgery by providing a closed-loop, constraint-aware control architecture tailored for otologic procedures.

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hal-05373679 , version 1 (19-11-2025)

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  • HAL Id : hal-05373679 , version 1

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Mohamed-Aimen Boulala, Carlos Mateo-Agulló, Renato Martins, Alain Lalande, Cédric Demonceaux, et al.. Hybrid Visual Servoing for Robotic Assistance in ENT Microsurgery: A Case Study on Middle Ear Access. IEEE/SICE International Symposium on System Integration, Jan 2026, Cancun, Mexico. ⟨hal-05373679⟩
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