title: Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities--techniques and applications.
abstract: BACKGROUND
  Intraoperative application of tomographic imaging techniques provides a means of visual servoing for objects beneath the surface of organs.
  
  
  METHODS
  The focus of this survey is on therapeutic and diagnostic medical applications where tomographic imaging is used in visual servoing. To this end, a comprehensive search of the electronic databases was completed for the period 2000-2013.
  
  
  RESULTS
  Existing techniques and products are categorized and studied, based on the imaging modality and their medical applications. This part complements Part I of the survey, which covers visual servoing techniques using endoscopic imaging and direct vision.
  
  
  CONCLUSIONS
  The main challenges in using visual servoing based on tomographic images have been identified. 'Supervised automation of medical robotics' is found to be a major trend in this field and ultrasound is the most commonly used tomographic modality for visual servoing.
authors.affiliation: Intuitive Surgical Inc., Sunnyvale, CA, USA.
authors.forename: Mahdi
authors.initials: M
authors.lastname: Azizian
authors.forename: Nima
authors.initials: N
authors.lastname: Najmaei
authors.forename: Mahta
authors.initials: M
authors.lastname: Khoshnam
authors.forename: Rajni
authors.initials: R
authors.lastname: Patel
mesh_terms: D000465:Algorithms; D005471:Fluoroscopy / Q000379:methods; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000379:methods; D008279:Magnetic Resonance Imaging / Q000379:methods; D065287:Robotic Surgical Procedures / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000379:methods*; D011795:Surveys and Questionnaires; D014054:Tomography / Q000379:methods*; D014057:Tomography, X-Ray Computed / Q000379:methods; D014463:Ultrasonography / Q000379:methods
keywords: X-ray fluoroscopy; computed tomography; image-based tracking; magnetic resonance imaging; medical imaging; medical robotics; minimally invasive therapy; tomographic imaging; ultrasound; visual servoing