Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


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

Download [help]

Download paper: Doi page

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, Inria 2002-2015, Projet Lagadic


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


Alexandre Krupa

BibTex Reference

   Author = {Krupa, A. and Fichtinger, G. and Hager, G.},
   Title = {Full motion tracking in ultrasound using image speckle information and visual servoing},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'07},
   Pages = {2458--2464},
   Address = {Roma, Italy},
   Month = {April},
   Year = {2007}

EndNote Reference [help]

Get EndNote Reference (.ref)

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