Intensity-based direct visual servoing of an ultrasound probe

摘要：

This paper presents a new image-based approach to the control of a robotic system equipped with an ultrasound 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.

关键词： Visual servoing ultrasound guided robotic system intensity-based control

作者: Caroline Nadeau Alexandre Krupa

作者单位: Universit(e) de Rennes I,IRISA,INRIA Rennes-Bretagne Atlantique,Lagadic research group,35042 Rennes, INRIA Rennes-Bretagne Atlantique,IRISA,Lagadic research group,35042 Rennes,France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5677-5682

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）