Full motion tracking in ultrasound using image speckle information and visual servoing

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 2458-2464

  Krupa, Alexandre ^a   Fichtinger, Gabor ^b   Hager, Gregory D ^b  

^a CAMPUS DE BEAULIEU   (France)

^b JOHNS HOPKINS UNIVERSITY   (United States)

Author keywords

Medical robotics; Speckle correlation; Ultrasound; Visual servoing

Indexed keywords

IMAGE PROCESSING; MOTION CONTROL; PROBLEM SOLVING; ROBOTICS; SPECKLE; TRACKING (POSITION); ULTRASONICS;

IMAGE SPECKLES; MEDICAL ROBOTICS; MOTION TRACKINGS; SIMULATED MOTIONS; SPECKLE CORRELATION; ULTRASOUND PLANE; VISUAL SERVOING METHODS;

VISUAL SERVOING;

EID: 36349001705     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363688     Document Type: Conference Paper

References (18)

1. P. Abolmaesumi, S. E. Salcudean, W. H. Zhu, M. Sirouspour, S. DiMaio, Image-guided control of a robot for medical ultrasound, IEEE Trans. Robotics and Automation, 18:11-23, February 2002.
2. J. Hong, T. Dohi, M. Hashizume, K. Konishi, N. Hata, An ultrasounddriven needle insertion robot for percutaneous cholecystostomy, Physics in Medicine and Biology, 49(3):441-455, 2004.
3. J. Stoll, P. Novotny, R. Howe, P. Dupont, Real-time 3D ultrasoundbased servoing of a surgical instrument, In IEEE Int. Conf. on Robotics and Automation, Orlando, Florida, May 2006.
4. M. A. Vitrani, G. Morel, T. Ortmaier, Automatic guidance of a surgical instrument with ultrasound based visual servoing, in IEEE Int. Conf. on Robotics and Automation, 510-515, Barcelona, Spain, April 2005.
5. W. Bachta, A. Krupa, Towards ultrasound image-based visual servoing, In IEEE Int. Conf. on Robotics and Automation, 4112-4117, Orlando, Florida, May 2006.
6. A. H. Gee, R. J. Housden, P. Hassenpflug, G. M. Treece, R. W. Prager, Sensorless freehand 3D ultrasound in real tissues: Speckle decorrelation without fully developed speckle, Medical Image Analysis, 10(2):137-149, April 2006.
7. R.-F. Chang, W.-J. Wu, D.-R. Chen, W.-M. Chen, W. Shu, J.-H. Lee, L.-B. Jeng, 3-D US frame positioning using speckle decorrelation and image registration, Ultrasound in Med. & Bio., 29(6):801-812, 2003.
8. E.M Boctor, I. Iordachita, G. Fichtinger, G. D. Hager, Real-time quality control of tracked ultrasound, in 8th Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, 621-630, Palm Springs, California, USA, October 2005.
9. E. Boctor, M. deOliveira, M. Choti, R. Ghanem, R.H. Taylor, G. Hager, G. Fichtinger, Ultrasound Monitoring of Tissue Ablation Via Deformation Model and Shape Priors, in 9th. Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, 405-412, Denmark, 2006.
10. W.L Smith, A. Fenster, Optimum scan spacing for three-dimensional ultrasound by speckle statistics. Ultrasound in Med. & Bio., 26(4):551-562, 2000.
11. G. D. Hager, P. N. Belhumeur, Efficient region tracking with parametric models of geometry and illumination, IEEE Transactions on Pattern Analysis and Machine Intelligence, 20(10):1025-1039, 1998.
12. S. Benhimane and E. Malis, Real-time image-based tracking of planes using efficient second-order minimization, in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 943-948 Sendai, Japan, 2004.
13. B. Espiau, F. Chaumette, P. Rives, A new approach to visual servoing in robotics, IEEE Trans. Robotics and Automation, 8(3):313-326, June 1992.
14. E. Malis, Improving vision-based control using efficient secondorder minimization techniques, in IEEE Int. Conf. on Robotics and Automation, New Orleans, USA, April 2004.
15. W. Schroeder, K. Martin, B. Lorensen, The Visualization Toolkit An Object-Oriented Approach To 3D Graphics, 3rd Edition, ISBN 1-930934-12-2 Kitware, Inc. publishers.
16. E. Marchand, F. Spindler, F. Chaumette. ViSP for visual servoing: a generic software platform with a wide class of robot control skills, IEEE Robotics and Automation Magazine, 12(4):40-52, December 2005.
17. F. Bensalah, F. Chaumette. Compensation of abrupt motion changes in target tracking by visual servoing. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'95, 1:181-187, Pittsburgh, Pennsylvannie, August 1995.
18. R. Ginhoux, J. Gangloff, M. de Mathelin, L. Soler, M.M. Arenas Sanchez, J. Marescaux, Active Filtering of Physiological Motion in Robotized Surgery Using Predictive Control, In IEEE Transactions on Robotics, 21(1):67-79, February 2005.