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

Krupa09a

A. Krupa, G. Fichtinger, G.D. Hager. Real-time motion stabilization with B-mode ultrasound using image speckle information and visual servoing. The International Journal of Robotics Research, IJRR, Special Issue on Medical Robotics, Ayache, N. and Desai, J. (Eds.), 28(10):1334-1354, 2009.

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

Abstract

We develop visual servo control to stabilize the image of moving soft tissue in B-mode ultrasound (US) imaging. We define the target region in a B-mode US image, and automatically control a robot to manipulate an US probe by minimizing the difference between the target and the most recently acquired US image. We exploit tissue speckle information to compute the relative pose between the probe and the target region. In-plane motion is handled by image region tracking and out-of-plane motion recovered by speckle tracking using speckle decorrelation. A visual servo control scheme is then applied to manipulate the US probe to stabilize the target region in the live US image. In a first experiment involving only translational motion, an US phantom was moved by one robot while stabilizing the target with a second robot holding the US probe. In a second experiment, large 6-DOF motions were manually applied to an US phantom while a 6-DOF medical robot was automatically controlled to compensate for the probe displacement. The obtained results support the hypothesis that automated motion stabilization shows promise for a variety of US-guided medical procedures such as prostate cancer brachytherapy

Contact

Alexandre Krupa

BibTex Reference

@article{Krupa09a,
   Author = {Krupa, A. and Fichtinger, G. and Hager, G.D.},
   Title = {Real-time motion stabilization with B-mode ultrasound using image speckle information and visual servoing},
   Journal = {The International Journal of Robotics Research, IJRR},
   Volume = {    28},
   Number = {10},
   Pages = {1334--1354},
   Publisher = {sage},
   Year = {2009}
}

EndNote Reference [help]

Get EndNote Reference (.ref)

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