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.
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'07, 2007, Roma, Italy, France. pp.2458-2464, 2007
https://hal.inria.fr/inria-00350650
Contributeur : Eric Marchand
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Soumis le : mercredi 7 janvier 2009 - 14:27:09
Dernière modification le : mercredi 11 avril 2018 - 01:57:15
Document(s) archivé(s) le : mardi 8 juin 2010 - 17:26:50
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, France. pp.2458-2464, 2007. 〈inria-00350650〉
