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Automatic Tracking of an Organ Section with an Ultrasound Probe: Compensation of Respiratory Motion

C. Nadeau 1 A. Krupa 1 J. Gangloff 2
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 : In minimally invasive surgery or needle insertion procedures, the ul- trasound imaging can easily and safely be used to visualize the target to reach. However the manual stabilization of the view of this target, which undergoes the physiological motions of the patient, can be a challenge for the surgeon. In this paper, we propose to perform this stabilization with a robotic arm equipped with a 2D ultrasound probe. The six degrees of freedom of the probe are controlled by an image-based approach, where we choose as visual feedback the image in- tensity. The accuracy of the control law is ensured by the consideration of the periodicity of the physiological motions in a predictive controller. Tracking tasks performed on a realistic abdominal phantom validate the proposed approach and its robustness to deformation is assessed on a gelatin-made deformable phantom.
keyword : Visual Servoing
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Submitted on : Wednesday, November 9, 2011 - 5:32:17 PM
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  • HAL Id : hal-00639691, version 1

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C. Nadeau, A. Krupa, J. Gangloff. Automatic Tracking of an Organ Section with an Ultrasound Probe: Compensation of Respiratory Motion. Int. Conf. on Medical Image Computing and Computer Assisted Intervention, MICCAI'11, 2011, Toronto, Canada, Canada. ⟨hal-00639691⟩

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