{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:32Z","timestamp":1777715732325,"version":"3.51.4"},"reference-count":20,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2008,1,1]],"date-time":"2008-01-01T00:00:00Z","timestamp":1199145600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2008,1]]},"abstract":"<jats:p>Ultrasound image-guided interventions are widespread in surgery because of the non-invasive character of the procedures. However, hand\/eye synchronization is relatively difficult for a surgeon. Ultrasound image-based visual servoing is one way to perform this kind of surgery. In this work, the control of instrument motion based on ultrasound images through nonlinear model predictive control is investigated. This new scheme ensures the convergence of the instrument to the desired position and also offers the possibility of satisfying constraints such as joint limits, actuator saturation and visibility preserving. This paper describes the proposed controller. The efficiency and the robustness of the proposed solution to control a six degree-of-freedom mechanical system is first illustrated by simulation. Experiments on a Mitsubishi PA10 robot highlight the efficiency of the vision control scheme to handle constraints of ultrasound image-based visual servoing.<\/jats:p>","DOI":"10.1177\/0278364907082269","type":"journal-article","created":{"date-parts":[[2007,12,18]],"date-time":"2007-12-18T07:54:13Z","timestamp":1197964453000},"page":"25-40","source":"Crossref","is-referenced-by-count":39,"title":["Ultrasound Image-Based Visual Servoing of a Surgical Instrument Through Nonlinear Model Predictive Control"],"prefix":"10.1177","volume":"27","author":[{"given":"Micka\u00ebl","family":"Sauv\u00e9e","sequence":"first","affiliation":[{"name":"LIRMM (Laboratoire d'informatique, de Robotique et de Micro\u00e9lectronique de Montpellier), UMR 5506 CNRS Universit\u00e9 de Montpellier 2 161 rue Ada, 34392 Montpellier Cedex 5, France, sauvee, @lirmm.fr"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Philippe","family":"Poignet","sequence":"additional","affiliation":[{"name":"LIRMM (Laboratoire d'informatique, de Robotique et de Micro\u00e9lectronique de Montpellier) UMR 5506 CNRS Universit\u00e9 de Montpellier 2 161 rue Ada, 34392 Montpellier Cedex 5, France, poignet, @lirmm.fr"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Etienne","family":"Dombre","sequence":"additional","affiliation":[{"name":"LIRMM (Laboratoire d'informatique, de Robotique et de Micro\u00e9lectronique de Montpellier) UMR 5506 CNRS Universit\u00e9 de Montpellier 2 161 rue Ada, 34392 Montpellier Cedex 5, France,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2008,1,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/70.988970"},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"Allg\u00f6wer, F., Badgwell, T.A., Qin, S.J., Rawlings, J.B., and Wright, S.J. (1999). Nonlinear predictive control and moving horizon estimation \u2014 an introductory overwiew. In Advances in Control: Highlights of ECC'99, pp. 391\u2014449.","DOI":"10.1007\/978-1-4471-0853-5_19"},{"key":"atypb3","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA'06)","author":"Batcha, W."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1007\/PL00001995"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1016\/S0003-4975(99)01574-X"},{"issue":"6","key":"atypb6","first-page":"1141","volume":"123","author":"Downing, S.D.","year":"2002","journal-title":"Surgery"},{"key":"atypb7","first-page":"60","volume":"2","author":"Hastenteufel, M.","year":"2006","journal-title":"Surgery"},{"issue":"3","key":"atypb8","first-page":"441","volume":"49","author":"Hong, J.","year":"2004","journal-title":"Biology"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1109\/70.538972"},{"key":"atypb10","volume-title":"User's guide for CFSQP (Version 2.5)","author":"Lawrence, G.","year":"1997"},{"key":"atypb11","volume-title":"Proceedings of Medical Imaging Computing and Computer-Assisted Intervention (MICCAI'01)","author":"Megali, G."},{"key":"atypb12","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA'05)","author":"Phee, L."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1016\/S0003-4975(99)00093-4"},{"key":"atypb14","first-page":"1057","volume":"27","author":"Rastan, A.J.","year":"2005","journal-title":"Thoracic Surgery"},{"key":"atypb15","unstructured":"Richalet, J. (1993). Pratique de la commande pr\u00e9dictive, Chapter 4 , pp. 193\u2014199. Herm\u00e8s."},{"key":"atypb16","volume-title":"Proceedings of IFAC Workshop on Nonlinear Model Predictive Control for Fast System (NMPCFS'06)","author":"Sauv\u00e9e, M."},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.846465"},{"key":"atypb18","volume-title":"Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'06)","author":"Stoll, J."},{"key":"atypb19","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA'05)","author":"Vitrani, M.-A."},{"issue":"6","key":"atypb20","first-page":"1624","volume":"127","author":"Wan, I.Y.P.","year":"2004","journal-title":"Surgery"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907082269","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907082269","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:04Z","timestamp":1777457764000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364907082269"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,1]]},"references-count":20,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2008,1]]}},"alternative-id":["10.1177\/0278364907082269"],"URL":"https:\/\/doi.org\/10.1177\/0278364907082269","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2008,1]]}}}