Confidence-Driven Control of an Ultrasound Probe: Target-Specific Acoustic Window Optimization - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Communication Dans Un Congrès Année : 2016

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

Résumé

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.
Fichier principal
Vignette du fichier
2016_icra_chatelain.pdf (906.63 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

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

Identifiants

  • HAL Id : hal-01274748 , version 1

Citer

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⟩
369 Consultations
369 Téléchargements

Partager

Gmail Facebook X LinkedIn More