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Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing

A. Krupa 1 G. Fichtinger 2 G.D. Hager 3
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 : We present a method for real-time tracking of moving soft tissue with B-mode ultrasound (US). The method makes use of the speckle information contained in the US images to estimate the in-plane and out-of-plane motion of a fixed target relative to the ultrasound scan plane. The motion information is then used as closed-loop feedback to a robot which corrects for the target motion. The concept is demonstrated for translation motions in an experimental setup consisting of an ultrasound speckle phantom, a robot for simulating tissue motion, and a robot that performs motion stabilization from US images. This concept shows promise for US-guided procedures that require real-time motion tracking and compensation.
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https://hal.inria.fr/inria-00350653
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A. Krupa, G. Fichtinger, G.D. Hager. Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing. Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, MICCAI'07, 2007, Brisbane, Australia. pp.1-8. ⟨inria-00350653⟩

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