Automatic calibration of a robotized 3D ultrasound imaging system by visual servoing

A. 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 : Three-dimensional free-hand ultrasound imaging consists of capturing a set of ultrasound images with a 2D ultrasound system and their respective locations in order to position them in a 3D reference frame. Usually the clinician performs the acquisition manually through the use of an optical or magnetic localization system attached to the ultrasound probe. To assist the clinician, we propose to use a robotic system to automatically move the ultrasound probe and measure its position. As for manual 3D ultrasound imaging, it is crucial to know precisely the spatial calibration parameters of the ultrasound system in order to perform accurate 3D imaging. Therefore, we propose to automate the spatial calibration procedure. A robotic task is developed to automatically position the ultrasound image on the intersection point of a cross-wire phantom used for spatial calibration. To perform this task, a new visual servoing technique based on 2D ultrasound images is used to control automatically the motion of the ultrasound probe held by a medical robot.
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'2006, 2006, Orlando, Florida, France. pp.4136-4141, 2006
Liste complète des métadonnées

Littérature citée [15 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00350295
Contributeur : Eric Marchand <>
Soumis le : mardi 6 janvier 2009 - 13:58:39
Dernière modification le : jeudi 15 novembre 2018 - 11:57:06
Document(s) archivé(s) le : mardi 8 juin 2010 - 18:41:26

Fichier

2006_icra_krupa.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00350295, version 1

Citation

A. Krupa. Automatic calibration of a robotized 3D ultrasound imaging system by visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'2006, 2006, Orlando, Florida, France. pp.4136-4141, 2006. 〈inria-00350295〉

Partager

Métriques

Consultations de la notice

339

Téléchargements de fichiers

173