%0 Conference Proceedings
%F Krupa07a
%A Krupa, A.
%A Fichtinger, G.
%A Hager, G.
%T Full motion tracking in ultrasound using image speckle information and visual servoing
%B IEEE Int. Conf. on Robotics and Automation, ICRA'07
%P 2458-2464
%C Roma, Italy
%X 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
%U http://www.irisa.fr/lagadic/pdf/2007_icra_krupa.pdf
%U http://dx.doi.org/10.1109/ROBOT.2007.363688
%8 April
%D 2007