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R. Mebarki, A. Krupa, F. Chaumette. 2D ultrasound probe complete guidance by visual servoing using image moments. IEEE Trans. on Robotics, 26(2):296-306, April 2010.

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This paper presents a visual servoing method based on 2D ultrasound images. The main goal is to guide a robot actuating a 2D ultrasound probe in order to reach a desired cross-section image of an object of interest. The method we propose allows the control of both in-plane and out-of-plane probe motions. Its feedback visual features are combinations of moments extracted from the observed image. The exact analytical form of the interaction matrix that relates the image moments time variation to the probe velocity is developed, and six independent visual features are proposed to control the 6 degrees of freedom of the robot. In order to endow the system with the capability of automatically interacting with objects of unknown shape, a model-free visual servoing is developed. For that, we propose an efficient on-line estimation method to identify the parameters involved in the interaction matrix. Results obtained in both simulations and experiments validate this work and show the robustness of the developed servo method to different errors and perturbations, especially those inherent to the noisy ultrasound images


Alexandre Krupa
Francois Chaumette

BibTex Reference

   Author = {Mebarki, R. and Krupa, A. and Chaumette, F.},
   Title = {2D ultrasound probe complete guidance by visual servoing using image moments},
   Journal = {IEEE Trans. on Robotics},
   Volume = {    26},
   Number = {2},
   Pages = {296--306},
   Month = {April},
   Year = {2010}

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