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Full motion tracking in ultrasound using image speckle information and visual servoing

A. Krupa 1 G. Fichtinger 2 G. Hager 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 : This paper presents a new visual servoing method that is able to stabilize a moving area of soft tissue within an ultrasound B-mode imaging plane. The approach consists of moving the probe in order to minimize the relative position between a target imaging plane and the ultrasound plane observed by the probe of the moving tissue target. The problem is decoupled into motion out-of-plane and motion within plane. For the former, a new original method based on the speckle information contained in the images is developed. For the latter, an image region tracker is used to provide the in-plane motion. A visual servoing control scheme is then developed to perform the tracking robotic task. The method is validated on simulated motions of a probe on a static ultrasound volume acquired from a phantom.
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A. Krupa, G. Fichtinger, G. Hager. Full motion tracking in ultrasound using image speckle information and visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'07, 2007, Roma, Italy. pp.2458-2464. ⟨inria-00350650⟩

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