Image moments-based ultrasound visual servoing

R. Mebarki 1 A. Krupa 1 François Chaumette 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 : A new visual servoing method based on B-mode ultrasound images is proposed to automatically control the motion of a 2D ultrasound probe held by a medical robot in order to reach a desired B-scan image of an object of interest. In this approach, combinations of image moments extracted from the current observed object cross-section are used as feedback visual features. The analytical form of the interaction matrix, relating the time variation of these visual features to the probe velocity, is derived and used in the control law. Simulations performed with a static ultrasound volume containing an egg-shaped object, and in-vitro experiments using a robotized ultrasound probe that interacts with a rabbit heart immersed in water, show the validity of this new approach and its robustness with respect to modeling and measurements errors.
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Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'08, 2008, Pasadena, California, France. pp.113-119, 2008
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R. Mebarki, A. Krupa, François Chaumette. Image moments-based ultrasound visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'08, 2008, Pasadena, California, France. pp.113-119, 2008. 〈inria-00351872〉

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