Quality-driven ultrasound-based visual servoing

Contact: Pierre Chatelain
Last update: May 2016

Context

This project aims at optimizing the quality of robotic ultrasound acquisitions. Ultrasound image quality is highly dependent on the position of the probe and the contact forces with the patient's body. During manual exams, sonographers constantly adjust the orientation of the ultrasound probe in order to find the optimal acoustic window for the anatomy of interest. Reproducing such behavior for a robotic system would allow a finer control of the image contents, and result in higher quality acquisistions.

Method overview

We use confidence maps to estimate the quality of the ultrasound signal within the images. Using this information, we design a confidence-based control law which aims at optimizing the orientation of the probe. Two different approaches are considered:

Experimental results

Global confidence control Target-specific confidence control

References

  1. P. Chatelain, A. Krupa, N. Navab. Optimization of ultrasound image quality via visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'15, Pages 5997-6002, Seattle, WA, May 2015. details Hal : Hyper Archive en ligne pdf
  2. P. Chatelain, A. Krupa, N. Navab. Confidence-driven control of an ultrasound probe: target-specific acoustic window optimization. In IEEE Int. Conf. on Robotics and Automation, ICRA'16, Stockholm, Sweden, May 2016. details Hal : Hyper Archive en ligne pdf

| Lagadic | Map | Team | Publications | Demonstrations |
Irisa - Inria - Copyright 2009 Lagadic Project