Preliminary variation on multiview geometry for vision-guided laser surgery

This paper proposes to use the multiview geometry to control an orientable laser beam for surgery. Two methods are proposed based on the analogy between a scanning laser beam and a camera: the first method uses one camera and the laser scanner as a virtual camera to form a virtual stereoscopic system while the second method uses two cameras to form a virtual trifocal system. Using the associated epipolar or trifocal geometry, two control laws are derived without any matrix inversion nor estimation of the 3D scene. It is shown that the more geometry is used, the simpler the control gets. These control laws show, as expected, exponential convergence in simulation validation.