Optimization of ultrasound image quality via visual servoing

Pierre Chatelain 1, 2 Alexandre Krupa 1 Nassir Navab 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 this paper we propose a new ultrasound-based visual servoing framework, for the optimization of the positioning of an ultrasound probe manipulated by a robotic arm, in order to improve the quality of the acquired ultra-sound images. To this end, we use the recent framework of ultrasound confidence map, which aims at estimating the per-pixel quality of the ultrasound signal based on a model of sound propagation in soft tissues. More specifically, we treat the ultrasound confidence maps as a new modality to design a visual servoing control law for image quality optimization. The proposed framework aims at improving ultrasound imaging techniques, such as robotic tele-echography, target tracking or volume reconstruction. Here we illustrate our approach with the application of robotic tele-echography. Experiments are performed on both an ultrasound examination training phantom and ex vivo tissue samples.
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'15, May 2015, Seattle, United States
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https://hal.inria.fr/hal-01121222
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  • HAL Id : hal-01121222, version 1

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Pierre Chatelain, Alexandre Krupa, Nassir Navab. Optimization of ultrasound image quality via visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'15, May 2015, Seattle, United States. 〈hal-01121222〉

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