%0 Conference Proceedings %F Lee11a %A Lee, D. %A Krupa, A. %T Intensity-based visual servoing for non-rigid motion compensation of soft tissue structures due to physiological motion using 4D ultrasound %B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11 %P 2831-2836 %C San Francisco, USA %X This paper presents a visual-servoing method for compensating motion of soft tissue structures using 4D ultra- sound. The motion of soft tissue structures caused by physiologi- cal and external motion makes it difficult to investigate them for diagnostic and therapeutic purposes. The main goal is to track non-rigidly moving soft tissue structures and compensate the motion in order to keep a lesion on its target position during a treatment. We define a 3D non-rigid motion model by extending the Thin-Plate Spline (TPS) algorithm. The motion parameters are estimated with intensity-value changes of a points set in a tracking soft tissue structure. Finally, the global rigid motion is compensated with a 6-DOF robot according to the motion parameters of the tracking structure. Simulation experiments are performed with recorded 3D US images of in-vivo soft tissue structures and validate the effectiveness of the non-rigid motion tracking method. Robotic experiments demonstrated the success of our method with a deformable phantom %U http://rainbow-doc.irisa.fr/pdf/2011_iros_lee.pdf %U http://dx.doi.org/10.1109/IROS.2011.6048594 %8 September %D 2011