%0 Conference Proceedings
%F Nadeau10a
%A Nadeau, C.
%A Krupa, A.
%T A multi-plane approach for ultrasound visual servoing: application to a registration task
%B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10
%P 5706-5711
%C Taipei, Taiwan
%X This paper presents a new image-based approach to control a robotic system equipped with an ultrasound imaging device. Six optimal visual features based on the image moments are extracted from three orthogonal ultrasound images to servo in-plane and out-of-plane motions of the system. Compared to visual servoing techniques based on a single 2D US image, this approach allows a global convergence in the positioning of the probe. The second contribution of this paper is to use this method to perform a multimodal registration task by formulating it as a virtual visual servoing problem. Multimodal registration validations are performed with an ultrasound phantom containing an egg-shaped object
%U http://rainbow-doc.irisa.fr/pdf/2010_iros_nadeau.pdf
%8 October
%D 2010