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Conference Papers Year : 2007

Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing

Abstract

We present a method for real-time tracking of moving soft tissue with B-mode ultrasound (US). The method makes use of the speckle information contained in the US images to estimate the in-plane and out-of-plane motion of a fixed target relative to the ultrasound scan plane. The motion information is then used as closed-loop feedback to a robot which corrects for the target motion. The concept is demonstrated for translation motions in an experimental setup consisting of an ultrasound speckle phantom, a robot for simulating tissue motion, and a robot that performs motion stabilization from US images. This concept shows promise for US-guided procedures that require real-time motion tracking and compensation.
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Dates and versions

inria-00350653 , version 1 (07-01-2009)

Identifiers

  • HAL Id : inria-00350653 , version 1

Cite

A. Krupa, G. Fichtinger, G.D. Hager. Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing. Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, MICCAI'07, 2007, Brisbane, Australia. pp.1-8. ⟨inria-00350653⟩
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