Nadeau11a
C. Nadeau, A. Krupa. Intensity-based direct visual servoing of an ultrasound probe. In IEEE Int. Conf. on Robotics and Automation, ICRA'11, Pages 5677-5682, Shanghai, China, May 2011.
Download [help]
Download paper:
Doi page 
Download Hal paper:
Download paper:
Adobe portable document (pdf) 
Copyright notice:
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2024, Projet Lagadic/Rainbow
Abstract
This paper presents a new image-based approach to the control of a robotic system equipped with an ultra- sound imaging device. For diagnostic applications, the proposed method makes it possible to position an ultrasound probe on a desired organ section and to track it by compensating for rigid motions of the organ. Both in-plane and out-of-plane motions of the probe are controlled by the proposed method. The main contribution of this work is the direct use of the ultrasound image as visual feature which spares any segmentation or image processing time consuming step. Simulation and robotic experiments are performed on a realistic abdominal phantom and validate this ultrasound intensity-based visual servoing approach
Contact
BibTex Reference
@InProceedings{Nadeau11a,
Author = {Nadeau, C. and Krupa, A.},
Title = {Intensity-based direct visual servoing of an ultrasound probe},
BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'11},
Pages = {5677--5682},
Address = {Shanghai, China},
Month = {May},
Year = {2011}
}
EndNote Reference [help]
Get EndNote Reference (.ref)