Weakly calibrated stereoscopic visual servoing for laser steering: Application to phonomicrosurgery

This paper deals with the study of a weakly calibrated multiview visual servoing control law for microrobotic laser phonomicrosurgery of the vocal folds. It consists of the development of an endoluminal surgery system for laser ablation and resection of cancerous tissues. More specifically, this paper focuses on the part concerning the control of the laser spot displacement during surgical interventions. To perform this, a visual control law based on trifocal geometry is designed using two cameras and a laser source (virtual camera). The method is validated on a realistic testbench and the straight point-to-point trajectories are demonstrated.