A robotic control framework for 3-D quantitative ultrasound elastography - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2017

A robotic control framework for 3-D quantitative ultrasound elastography


In this paper we present a novel approach to track and explore stiff tissues within 3-D ultrasound volumes acquired by a medical 3-D ultrasound probe mounted on a six degrees of freedom robotic arm. Autonomous palpation and on-line elastography process are implemented to estimate the elastic property of the tissues (strain) in a volume of interest (VoI) indicated by the user. The compression motion, required for the elastography, is performed by controlling the force applied by the ultrasound probe to the tissues. A visual servoing control for centering a rigid tissue (target) inside the field of view (FoV) of the ultrasound probe is established to always maintain the target visible. Additionally, rotations around the contact point between the tissue and the ultrasound probe are teleoperated through a haptic device handled by the user in order to allow exploration of the target surrounding areas. Results show a stable system that can be used in the future for diagnosis of diseases or tumor location.
Fichier principal
Vignette du fichier
Icra2017_final_version_Patlan_Krupa.pdf (2.07 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-01481975 , version 1 (03-03-2017)


  • HAL Id : hal-01481975 , version 1


Pedro A Patlan-Rosales, Alexandre Krupa. A robotic control framework for 3-D quantitative ultrasound elastography. IEEE Int. Conf. on Robotics and Automation, ICRA'17, May 2017, Singapore, Singapore. ⟨hal-01481975⟩
359 View
329 Download


Gmail Facebook X LinkedIn More