HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

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.
Document type :
Conference papers
Complete list of metadata

Cited literature [22 references]  Display  Hide  Download

Contributor : Pierre Chatelain Connect in order to contact the contributor
Submitted on : Tuesday, February 16, 2016 - 11:11:05 AM
Last modification on : Thursday, January 20, 2022 - 4:20:45 PM
Long-term archiving on: : Tuesday, May 17, 2016 - 10:08:35 AM


Files produced by the author(s)


  • HAL Id : hal-01274748, version 1


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. ⟨hal-01274748⟩



Record views


Files downloads