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A. Krupa, G. Fichtinger, G. Hager. Full motion tracking in ultrasound using image speckle information and visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'07, Pages 2458-2464, Roma, Italy, April 2007.

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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


Alexandre Krupa

BibTex Reference

   Author = {Krupa, A. and Fichtinger, G. and Hager, G.},
   Title = {Full motion tracking in ultrasound using image speckle information and visual servoing},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'07},
   Pages = {2458--2464},
   Address = {Roma, Italy},
   Month = {April},
   Year = {2007}

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