Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


C. Nadeau, A. Krupa. Intensity-based ultrasound visual servoing: modeling and validation with 2D and 3D probes. IEEE. Trans. on Robotics, 29(4):1003-1015, August 2013.

Download [help]

Download paper: Doi page

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) 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


In this paper, we present an ultrasound (US) visual servoing to control a robotic system equipped with a US probe. To avoid the difficult and time-consuming image segmentation process, we develop a new approach taking as visual input directly the intensity of the image pixels. The analytic form of the interaction matrix that relates the variation of the intensity features to the motion of the probe is established and used to control the six degrees of freedom (dof) of the robotic system. Our approach is applied with a 2-D and a 3-D US probe, and the results that are obtained with both sensors are compared in simulation. The 2-D probe shows good performances for tracking tasks and the 3-D one, which ensures a larger domain of convergence, is more particularly used for positioning tasks. The intensity-based approach is validated through experimental results performed with a realistic abdominal phantom and with animal soft tissue


Alexandre Krupa

BibTex Reference

   Author = {Nadeau, C. and Krupa, A.},
   Title = {Intensity-based ultrasound visual servoing: modeling and validation with 2D and 3D probes},
   Journal = {IEEE. Trans. on Robotics},
   Volume = {    29},
   Number = {4},
   Pages = {1003--1015},
   Publisher = {IEEE},
   Month = {August},
   Year = {2013}

EndNote Reference [help]

Get EndNote Reference (.ref)