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Conference Papers Year : 2007

Full motion tracking in ultrasound using image speckle information and visual servoing

Abstract

This paper presents a new visual servoing method that is able to stabilize a moving area of soft tissue within an ultrasound B-mode imaging plane. The approach consists of moving the probe in order to minimize the relative position between a target imaging plane and the ultrasound plane observed by the probe of the moving tissue target. The problem is decoupled into motion out-of-plane and motion within plane. For the former, a new original method based on the speckle information contained in the images is developed. For the latter, an image region tracker is used to provide the in-plane motion. A visual servoing control scheme is then developed to perform the tracking robotic task. The method is validated on simulated motions of a probe on a static ultrasound volume acquired from a phantom.
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Dates and versions

inria-00350650 , version 1 (07-01-2009)

Identifiers

  • HAL Id : inria-00350650 , version 1

Cite

A. Krupa, G. Fichtinger, G. Hager. Full motion tracking in ultrasound using image speckle information and visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'07, 2007, Roma, Italy. pp.2458-2464. ⟨inria-00350650⟩
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