Intensity-based visual servoing for non-rigid motion compensation of soft tissue structures due to physiological motion using 4D ultrasound

D. Lee 1 A. Krupa 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper presents a visual-servoing method for compensating motion of soft tissue structures using 4D ultra- sound. The motion of soft tissue structures caused by physiologi- cal and external motion makes it difficult to investigate them for diagnostic and therapeutic purposes. The main goal is to track non-rigidly moving soft tissue structures and compensate the motion in order to keep a lesion on its target position during a treatment. We define a 3D non-rigid motion model by extending the Thin-Plate Spline (TPS) algorithm. The motion parameters are estimated with intensity-value changes of a points set in a tracking soft tissue structure. Finally, the global rigid motion is compensated with a 6-DOF robot according to the motion parameters of the tracking structure. Simulation experiments are performed with recorded 3D US images of in-vivo soft tissue structures and validate the effectiveness of the non-rigid motion tracking method. Robotic experiments demonstrated the success of our method with a deformable phantom.
keyword : Visual Servoing
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, United States. pp.2831-2836, 2011
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D. Lee, A. Krupa. Intensity-based visual servoing for non-rigid motion compensation of soft tissue structures due to physiological motion using 4D ultrasound. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, United States. pp.2831-2836, 2011. 〈hal-00639687〉

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