A
Alexandre Krupa
Researcher at French Institute for Research in Computer Science and Automation
Publications - 67
Citations - 1619
Alexandre Krupa is an academic researcher from French Institute for Research in Computer Science and Automation. The author has contributed to research in topics: Visual servoing & Imaging phantom. The author has an hindex of 22, co-authored 64 publications receiving 1455 citations. Previous affiliations of Alexandre Krupa include University of Strasbourg & Institut de Recherche en Informatique et Systèmes Aléatoires.
Papers
More filters
Journal ArticleDOI
Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing
Alexandre Krupa,J.A. Gangloff,Christophe Doignon,M. de Mathelin,Guillaume Morel,J. Leroy,Luc Soler,Jacques Marescaux +7 more
TL;DR: A robotic vision system that automatically retrieves and positions surgical instruments during robotized laparoscopic surgical operations and can specify a desired relative position between the instrument and the pointed organ is presented.
Journal ArticleDOI
2-D Ultrasound Probe Complete Guidance by Visual Servoing Using Image Moments
TL;DR: An efficient online estimation method is proposed to identify the parameters involved in the interaction matrix that relates the image-moments time variation to the probe velocity and endow the system with the capability of automatically interacting with objects of unknown shape.
Journal ArticleDOI
Real-time Motion Stabilization with B-mode Ultrasound Using Image Speckle Information and Visual Servoing
TL;DR: The hypothesis that automated motion stabilization shows promise for a variety of US-guided medical procedures such as prostate cancer brachytherapy is supported.
Journal ArticleDOI
Intensity-Based Visual Servoing for Instrument and Tissue Tracking in 3D Ultrasound Volumes
TL;DR: The first validation of these techniques through offline robot and tissue tracking using actual in vivo cardiac volume sequences from a robotic beating-heart surgery is presented.
Proceedings ArticleDOI
Real-time needle detection and tracking using a visually servoed 3D ultrasound probe
TL;DR: This paper proposes a new algorithm capable of robustly detecting a needle from the moment it is inserted, without any a priori information on the insertion direction, and achieves robust real-time tracking of the needle by combining the random sample consensus (RANSAC) algorithm with Kalman filtering in closed loop.