Full motion tracking in ultrasound using image speckle information and visual servoing

Alexandre Krupa, Gabor Fichtinger, Gregory D. Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages2458-2464
Number of pages7
DOIs
StatePublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

Keywords

  • Medical robotics
  • Speckle correlation
  • Ultrasound
  • Visual servoing

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Full motion tracking in ultrasound using image speckle information and visual servoing'. Together they form a unique fingerprint.

Cite this