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Automatic guidance of an ultrasound probe by visual servoing based on B-mode image moments

R. Mebarki 1 A. Krupa 1 Christophe Collewet 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 : We propose a new visual servo approach to automatically control in real-time the full motion of a 2D ultrasound (US) probe held by a medical robot in order to reach a desired image of motionless soft tissue object in B-mode ultrasound imaging. Combinations of image moments of the observed object cross-section are used as feedback information in the visual control scheme. These visual features are extracted in real-time from the US image thanks to a fast image segmentation method. Simulations performed with a static US volume containing an egg-shaped object, and ex-vivo experiments using a robotized US probe that interacts with a motionless rabbit heart immersed in water, show the validity of this new approach and its robustness to different perturbations. This method shows promise for a variety of US-guided medical interventions that require real-time servoing.
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Submitted on : Monday, January 12, 2009 - 10:10:52 AM
Last modification on : Saturday, June 25, 2022 - 7:39:44 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:25:03 PM


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  • HAL Id : inria-00351873, version 1


R. Mebarki, A. Krupa, Christophe Collewet. Automatic guidance of an ultrasound probe by visual servoing based on B-mode image moments. Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, MICCAI'08, LNCS 5242, 2008, New York, France. pp.339-346. ⟨inria-00351873⟩



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