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Strain estimation of moving tissue based on automatic motion compensation by ultrasound visual servoing

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Abstract

This paper presents a robot-assisted system to obtain elastic information of a moving tissue using a 2-D ultrasound probe actuated by a 6 degrees of freedom robotic arm. The proposed method combines ultrasound image-based visual servoing, force control and non-rigid motion estimation. We present how the motion estimation, while the force control and visual sevoing are enabled, is useful to compute the strain map of the tissue. Ex-vivo experiments performed on a moving abdominal phantom demonstrate the efficiency and robustness of this methodology to compute the strain information of a tissue in motion.
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Dates and versions

hal-01572364 , version 1 (07-08-2017)

Identifiers

  • HAL Id : hal-01572364 , version 1

Cite

Pedro A Patlan-Rosales, Alexandre Krupa. Strain estimation of moving tissue based on automatic motion compensation by ultrasound visual servoing. IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. pp. 2941-2946. ⟨hal-01572364⟩
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