Confidence-Driven Control of an Ultrasound Probe: Target-Specific Acoustic Window Optimization

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 : We propose a control framework to optimize the quality of robotic ultrasound imaging while tracking an anatomical target. We use a multitask approach to control the in-plane motion of a convex probe mounted on the end-effector of a robotic arm, based not only on the position of the target in the image, but also on features extracted from an ultrasound confidence map. The resulting control law therefore guarantees a good image quality, while keeping the target aligned with the central ultrasound scan-line. Potential applications of the proposed approach are, for example, teleoperated ultrasound examination, motion compensation for ultrasound-guided interventions , or automatic ultrasound acquisition. We demonstrate our approach with experiments on an ultrasound examination training phantom in motion.
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'16, May 2016, Stockholm, Sweden. IEEE Int. Conf. on Robotics and Automation, ICRA'16, 2016, 〈http://www.icra2016.org/〉
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Pierre Chatelain, Alexandre Krupa, Nassir Navab. Confidence-Driven Control of an Ultrasound Probe: Target-Specific Acoustic Window Optimization. IEEE Int. Conf. on Robotics and Automation, ICRA'16, May 2016, Stockholm, Sweden. IEEE Int. Conf. on Robotics and Automation, ICRA'16, 2016, 〈http://www.icra2016.org/〉. 〈hal-01274748〉

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