Skip to Main content Skip to Navigation
Conference papers

A robotic control framework for 3-D quantitative ultrasound elastography

Pedro Patlan-Rosales 1 Alexandre 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 : In this paper we present a novel approach to track and explore stiff tissues within 3-D ultrasound volumes acquired by a medical 3-D ultrasound probe mounted on a six degrees of freedom robotic arm. Autonomous palpation and on-line elastography process are implemented to estimate the elastic property of the tissues (strain) in a volume of interest (VoI) indicated by the user. The compression motion, required for the elastography, is performed by controlling the force applied by the ultrasound probe to the tissues. A visual servoing control for centering a rigid tissue (target) inside the field of view (FoV) of the ultrasound probe is established to always maintain the target visible. Additionally, rotations around the contact point between the tissue and the ultrasound probe are teleoperated through a haptic device handled by the user in order to allow exploration of the target surrounding areas. Results show a stable system that can be used in the future for diagnosis of diseases or tumor location.
Document type :
Conference papers
Complete list of metadata

Cited literature [11 references]  Display  Hide  Download

https://hal.inria.fr/hal-01481975
Contributor : Eric Marchand <>
Submitted on : Friday, March 3, 2017 - 10:26:40 AM
Last modification on : Saturday, July 11, 2020 - 3:15:31 AM
Long-term archiving on: : Tuesday, June 6, 2017 - 12:08:04 PM

File

Icra2017_final_version_Patlan_...
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01481975, version 1

Citation

Pedro Patlan-Rosales, Alexandre Krupa. A robotic control framework for 3-D quantitative ultrasound elastography. IEEE Int. Conf. on Robotics and Automation, ICRA'17, May 2017, Singapore, Singapore. ⟨hal-01481975⟩

Share

Metrics

Record views

604

Files downloads

533