Image moments-based ultrasound visual servoing - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2008

Image moments-based ultrasound visual servoing


A new visual servoing method based on B-mode ultrasound images is proposed to automatically control the motion of a 2D ultrasound probe held by a medical robot in order to reach a desired B-scan image of an object of interest. In this approach, combinations of image moments extracted from the current observed object cross-section are used as feedback visual features. The analytical form of the interaction matrix, relating the time variation of these visual features to the probe velocity, is derived and used in the control law. Simulations performed with a static ultrasound volume containing an egg-shaped object, and in-vitro experiments using a robotized ultrasound probe that interacts with a rabbit heart immersed in water, show the validity of this new approach and its robustness with respect to modeling and measurements errors.
Fichier principal
Vignette du fichier
2008_icra_mebarki.pdf (483.9 Ko) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

inria-00351872 , version 1 (12-01-2009)


  • HAL Id : inria-00351872 , version 1


R. Mebarki, A. Krupa, François Chaumette. Image moments-based ultrasound visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'08, 2008, Pasadena, California, France. pp.113-119. ⟨inria-00351872⟩
116 View
183 Download


Gmail Mastodon Facebook X LinkedIn More