Mebarki08b

R. Mebarki, A. Krupa, C. Collewet. Automatic guidance of an ultrasound probe by visual servoing based on B-mode image moments. In Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, MICCAI'08, LNCS 5242, D. Metaxas, L. Axel, G. Fichtinger, G. Szekely (eds.), Pages 339-346, New York, September 2008.

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Abstract

We propose a new visual servo approach to automatically control in real-time the full motion of a 2D ultrasound (US) probe held by a medical robot in order to reach a desired image of motionless soft tissue object in B-mode ultrasound imaging. Combinations of image moments of the observed object cross-section are used as feedback information in the visual control scheme. These visual features are extracted in real-time from the US image thanks to a fast image segmentation method. Simulations performed with a static US volume containing an egg-shaped object, and ex-vivo experiments using a robotized US probe that interacts with a motionless rabbit heart immersed in water, show the validity of this new approach and its robustness to different perturbations. This method shows promise for a variety of US-guided medical interventions that require real-time servoing.

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Christophe Collewet

BibTex Reference

@InProceedings{Mebarki08b,
   Author = {Mebarki, R. and Krupa, A. and Collewet, C.},
   Title = {Automatic guidance of an ultrasound probe by visual servoing based on B-mode image moments},
   BookTitle = {Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, MICCAI'08, LNCS 5242},
   editor = {Metaxas, D. and Axel, L. and Fichtinger, G. and Szekely, G.},
   Pages = {339--346},
   Address = {New York},
   Month = {September},
   Year = {2008}
}

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