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Improving ultrasound intensity-based visual servoing: tracking and positioning tasks with 2D and bi-plane probes

C. Nadeau 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 : Real time and non invasive, the ultrasound imag- ing modality can easily be used in minimally invasive surgery or needle insertion procedures to visualize an organ or a tumor to reach. However the manual stabilization of the ultrasound image while the organ moves with patient breathing or heart beating can be very tricky. In this paper, we present an intensity-based approach to control both in-plane and out- of-plane motions of an ultrasound probe held by a robotic arm in order to reach and follow one organ cross section. Two methods are proposed to improve the accuracy of this intensity-based approach, by estimating on-line the 3D image gradient required in the control law and by considering a bi-plane sensor. Robotic experiments are performed with two different ultrasound sensors on a realistic abdominal phantom and validate this visual servoing approach.
keyword : Visual Servoing
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Submitted on : Wednesday, November 9, 2011 - 5:32:34 PM
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  • HAL Id : hal-00639692, version 1

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C. Nadeau, A. Krupa. Improving ultrasound intensity-based visual servoing: tracking and positioning tasks with 2D and bi-plane probes. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, United States. pp.2837-2842. ⟨hal-00639692⟩

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