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

Nadeau15a

C. Nadeau, H. Ren, A. Krupa, P. Dupont. Intensity-based Visual Servoing for Instrument and Tissue Tracking in 3D Ultrasound Volumes. IEEE Trans. on Automation Science and Engineering, 12(1):367-371, January 2015.

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

This paper presents a three dimensional ultrasound (3DUS)-based visual servoing technique for intraoperative tracking of the motion of both surgical instruments and tissue targets. In the proposed approach, visual servoing techniques are used to control the position of a virtual ultrasound probe so as to keep a target centered within the virtual probe's field-of-view. Multiple virtual probes can be servoed in parallel to provide simultaneous tracking of instruments and tissue. The technique is developed in the context of robotic beating-heart intracardiac surgery in which the goal of tracking is to both provide guidance to the operator as well as to provide the means to automate the surgical procedure. To deal with the low signal-to-noise ratio (SNR) of the 3DUS volumes, an intensity-based method is proposed that requires no primitive extraction or image segmentation since it directly utilizes the image intensity information as a visual feature. This approach is computationally efficient and can be applied to a wide range of tissue types and medical instruments. This paper presents the first validation of these techniques through offline robot and tissue tracking using actual in vivo cardiac volume sequences from a robotic beating-heart surgery

Contact

Alexandre Krupa

BibTex Reference

@article{Nadeau15a,
   Author = {Nadeau, C. and Ren, H. and Krupa, A. and Dupont, P.},
   Title = {Intensity-based Visual Servoing for Instrument and Tissue Tracking in 3D Ultrasound Volumes},
   Journal = {IEEE Trans. on Automation Science and Engineering},
   Volume = {    12},
   Number = {1},
   Pages = {367--371},
   Month = {January},
   Year = {2015}
}

EndNote Reference [help]

Get EndNote Reference (.ref)

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