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Nadeau10a

C. Nadeau, A. Krupa. A multi-plane approach for ultrasound visual servoing: application to a registration task. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, Pages 5706-5711, Taipei, Taiwan, October 2010.

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Abstract

This paper presents a new image-based approach to control a robotic system equipped with an ultrasound imaging device. Six optimal visual features based on the image moments are extracted from three orthogonal ultrasound images to servo in-plane and out-of-plane motions of the system. Compared to visual servoing techniques based on a single 2D US image, this approach allows a global convergence in the positioning of the probe. The second contribution of this paper is to use this method to perform a multimodal registration task by formulating it as a virtual visual servoing problem. Multimodal registration validations are performed with an ultrasound phantom containing an egg-shaped object

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Alexandre Krupa

BibTex Reference

@InProceedings{Nadeau10a,
   Author = {Nadeau, C. and Krupa, A.},
   Title = {A multi-plane approach for ultrasound visual servoing: application to a registration task},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10},
   Pages = {5706--5711},
   Address = {Taipei, Taiwan},
   Month = {October},
   Year = {2010}
}

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