• image acquisition
• medical imaging
• microrobotic endoscopy
• nasal endoscopy
• optical coherence tomography
• robotic control
• visual servoing

Recent studies demonstrated a correlation between the loss of smell and the possible appearance of neurodegenerative diseases. To investigate the impact of smell deficiency on neuronal degeneration, the project NEMRO (ANR-14-CE17-0013- 01) plans to develop a nasal micro-robotic endoscopy system equipped with an OCT imaging probe performing optical biopsies. This work is part of that project and deals with the development of a visual servoing strategy based on OCT images for controlling the motion of the nasal endoscope. I introduce a state of the art of visual servoing and optical coherence tomography. In the first part of this work, I focus on OCT image acquisition and processing, as a good image quality is important for effective visual servoing. Then, I present the developed visual servoing method, based on the use of the Continuous Wavelet Transform in spectral domain. It provides the displacement between two translated and rotated images determining the control law for the visual servoing. I experimentally validated the algorithm on a robotic platform with three degrees of freedom. Results showed that the method is precise and robust for the translation and the rotation.