| Title | Automatic guidance of an ultrasound probe by visual servoing based on B-mode image moments. |
| Author(s) | Mebarki R, Krupa A, Collewet C |
| Institution | IRISA, INRIA Rennes-Bretagne Atlantique, 35042 Rennes, France. Rafik.Mebarki@irisa.fr |
| Source | Med Image Comput Comput Assist Interv Int Conf Med Image Comput Comput Assist Interv 2008; 11(Pt 2):339-46. |
| MeSH | Algorithms
Feedback
Humans
Image Enhancement
Image Interpretation, Computer-Assisted
Reproducibility of Results
Robotics
Sensitivity and Specificity
Ultrasonography
|
| Abstract | We propose a new visual servo approach to automatically control in real-time the full motion of a 2D ultrasound (US) probe held by a medical robot in order to reach a desired image of motionless soft tissue object in B-mode ultrasound imaging. Combinations of image moments of the observed object cross-section are used as feedback information in the visual control scheme. These visual features are extracted in real-time from the US image thanks to a fast image segmentation method. Simulations performed with a static US volume containing an egg-shaped object, and ex-vivo experiments using a robotized US probe that interacts with a motionless rabbit heart immersed in water, show the validity of this new approach and its robustness to different perturbations. This method shows promise for a variety of US-guided medical interventions that require real-time servoing. |
| Language | eng |
| Pub Type(s) | Journal Article
|
| PubMed ID | 18982623 |
