2-D Ultrasound Probe Complete Guidance by Visual Servoing Using Image Moments

Mebarki, Rafik; Krupa, Alexandre; Chaumette, François

doi:10.1109/tro.2010.2042533

Cited by 82 publications

(67 citation statements)

References 21 publications

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“…Finally, we provided a GPU implementation solution to perform the contour tracking in realtime. In a future work we plan to develop a visual servoing method based on the FD-snake to control a medical robot equipped with an US probe (see [11]). …”

Section: Resultsmentioning

confidence: 99%

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A robust parametric active contour based on fourier descriptors

Krupa

Collewet

2011

2011 18th IEEE International Conference on Image Processing

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This paper presents an optimal parametric active contour method based on Fourier descriptors to detect and track a contour from a sequence of images in real-time. The advantage of this approach is that not only convex but also concave contours can be considered. We also propose a method to initialize the active contour using only three user's clicks in the first image of the sequence and to automatically re-initialize it when possible topological changes are detected during the tracking. Moreover, the algorithm is implemented on GPU to ensure the real-time tracking performance.

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Section: Resultsmentioning

confidence: 99%

“…In order to perform real time contour tracking from a sequence of ultrasound images, for example in the context of an image-guided robotic medical application [11], we propose in this section a GPU implementation solution of the snake.…”

Section: Implantation On Gpumentioning

confidence: 99%

A robust parametric active contour based on fourier descriptors

Krupa

Collewet

2011

2011 18th IEEE International Conference on Image Processing

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“…2c) to reach the desired section in sight. In this work, based on our previous approach presented in [20], we use the US image moments m ij = S x i y j dxdy as feedback to the control scheme. Thus, this US-IBVS feedback is defined by the set s of visual features that has been chosen as:…”

Section: A Ultrasound Image-based Visual Servoing (Us-ibvs)mentioning

confidence: 99%

“…To design the control law of the US-IBVS, we analytically determined in [20] the relation between the variationṡ of the US image visual features s that is induced by the probe motion v, that is written as [19], [20]:…”

Section: A Ultrasound Image-based Visual Servoing (Us-ibvs)mentioning

confidence: 99%

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Robotized Tele-Echography: An Assisting Visibility Tool to Support Expert Diagnostic

Krupa

Folio

Novales

et al. 2016

IEEE Systems Journal

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Abstract-This paper presents a robotized tele-echography system with an assisting visibility mode that helps the medical expert diagnosis. This autonomous mode is based on a multitask control approach that maintains the visibility of an anatomic element of interest while the medical expert tele-operates a 2D ultrasound probe held by a 4-DOF robot. The main task is used to automatically maintain several visual constraints that guarantee an intersection between the US image plane and the organ of interest. A secondary task allows the medical expert to manually apply the probe motion through the tele-operation mode. The main advantage of this approach is to give to the clinician the control of all the degrees of freedom of the probe to examine the patient while automatically preserving the visibility of the organ of interest when required. Experimental results, performed on a phantom and human abdomen, demonstrate the efficiency of the visibility assistance task.Index Terms-Robotized tele-echography, Ultrasound-based visual servoing, visibility constraints.

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