Real-time motion stabilization with B-mode ultrasound using image speckle information 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 develop visual servo control to stabilize the image of moving soft tissue in B-mode ultrasound (US) imaging. We define the target region in a B-mode US image, and automatically control a robot to manipulate an US probe by minimizing the difference between the target and the most recently acquired US image. We exploit tissue speckle information to compute the relative pose between the probe and the target region. In-plane motion is handled by image region tracking and out-of-plane motion recovered by speckle tracking using speckle decorrelation. A visual servo control scheme is then applied to manipulate the US probe to stabilize the target region in the live US image. In a first experiment involving only translational motion, an US phantom was moved by one robot while stabilizing the target with a second robot holding the US probe. In a second experiment, large 6-DOF motions were manually applied to an US phantom while a 6-DOF medical robot was automatically controlled to compensate for the probe displacement. The obtained results support the hypothesis that automated motion stabilization shows promise for a variety of US-guided medical procedures such as prostate cancer brachytherapy.
Type de document :
Article dans une revue
International Journal of Robotics Research, IJRR, 2009, 28 (10), pp.1334-1354
Liste complète des métadonnées

Littérature citée [27 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00436745
Contributeur : Eric Marchand <>
Soumis le : vendredi 27 novembre 2009 - 16:45:37
Dernière modification le : mercredi 2 août 2017 - 10:06:41
Document(s) archivé(s) le : jeudi 17 juin 2010 - 22:33:22

Fichier

2009_ijrr_krupa.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00436745, version 1

Citation

A. Krupa, G. Fichtinger, G.D. Hager. Real-time motion stabilization with B-mode ultrasound using image speckle information and visual servoing. International Journal of Robotics Research, IJRR, 2009, 28 (10), pp.1334-1354. 〈inria-00436745〉

Partager

Métriques

Consultations de
la notice

241

Téléchargements du document

207