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Conference Papers Year : 2016

Confidence-Driven Control of an Ultrasound Probe: Target-Specific Acoustic Window Optimization

Abstract

We propose a control framework to optimize the quality of robotic ultrasound imaging while tracking an anatomical target. We use a multitask approach to control the in-plane motion of a convex probe mounted on the end-effector of a robotic arm, based not only on the position of the target in the image, but also on features extracted from an ultrasound confidence map. The resulting control law therefore guarantees a good image quality, while keeping the target aligned with the central ultrasound scan-line. Potential applications of the proposed approach are, for example, teleoperated ultrasound examination, motion compensation for ultrasound-guided interventions , or automatic ultrasound acquisition. We demonstrate our approach with experiments on an ultrasound examination training phantom in motion.
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Dates and versions

hal-01274748 , version 1 (16-02-2016)

Identifiers

  • HAL Id : hal-01274748 , version 1

Cite

Pierre Chatelain, Alexandre Krupa, Nassir Navab. Confidence-Driven Control of an Ultrasound Probe: Target-Specific Acoustic Window Optimization. IEEE Int. Conf. on Robotics and Automation, ICRA'16, May 2016, Stockholm, Sweden. ⟨hal-01274748⟩
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