%0 Conference Proceedings
%F Mebarki08b
%A Mebarki, R.
%A Krupa, A.
%A Collewet, C.
%T Automatic guidance of an ultrasound probe by visual servoing based on B-mode image moments
%B Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, MICCAI'08, LNCS 5242
%E Metaxas, D.
%E Axel, L.
%E Fichtinger, G.
%E Szekely, G.
%P 339-346
%C New York
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2008_miccai_mebarki.pdf
%8 September
%D 2008