Control of an ultrasound probe by adaptive visual servoing - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2005

Control of an ultrasound probe by adaptive visual servoing

Abstract

A new visual servoing technique based on 2D ultrasound image is proposed in order to control the motion of an ultrasound probe held by a medical robot. In opposition to a standard camera which provides a projection of the 3D scene to a 2D image, ultrasound information is strictly in the observation plan of the probe and consequently visual servoing techniques have to be adapted. In this paper the coupling between the ultrasound probe and a motionless crossed string phantom used for probe calibration is modeled. Then a robotic task is developed which consists to position the ultrasound image on the intersection point of the crossed string phantom while moving the probe to different orientations. The goal of this task is to optimize the procedure of spatial parameters calibration of 3D ultrasound systems.
Fichier principal
Vignette du fichier
2005_iros_krupa.pdf (317.24 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

inria-00351891 , version 1 (12-01-2009)

Identifiers

  • HAL Id : inria-00351891 , version 1

Cite

A. Krupa, François Chaumette. Control of an ultrasound probe by adaptive visual servoing. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'05, 2005, Edmonton, Canada, France. pp.2007-2012. ⟨inria-00351891⟩
113 View
187 Download

Share

Gmail Facebook X LinkedIn More