Nadeau11d
C. Nadeau, A. Krupa. Improving ultrasound intensity-based visual servoing: tracking and positioning tasks with 2D and bi-plane probes. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, Pages 2837-2842, San Francisco, USA, September 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
Real time and non invasive, the ultrasound imag- ing modality can easily be used in minimally invasive surgery or needle insertion procedures to visualize an organ or a tumor to reach. However the manual stabilization of the ultrasound image while the organ moves with patient breathing or heart beating can be very tricky. In this paper, we present an intensity-based approach to control both in-plane and out- of-plane motions of an ultrasound probe held by a robotic arm in order to reach and follow one organ cross section. Two methods are proposed to improve the accuracy of this intensity-based approach, by estimating on-line the 3D image gradient required in the control law and by considering a bi-plane sensor. Robotic experiments are performed with two different ultrasound sensors on a realistic abdominal phantom and validate this visual servoing approach
Contact
BibTex Reference
@InProceedings{Nadeau11d,
Author = {Nadeau, C. and Krupa, A.},
Title = {Improving ultrasound intensity-based visual servoing: tracking and positioning tasks with 2D and bi-plane probes},
BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11},
Pages = {2837--2842},
Address = {San Francisco, USA},
Month = {September},
Year = {2011}
}
EndNote Reference [help]
Get EndNote Reference (.ref)