Automatic Guidance of a Surgical Instrument with Ultrasound Based Visual Servoing

Vitrani, Marie-Aude; Morel, Guillaume; Ortmaier, Tobias

doi:10.1109/robot.2005.1570169

Cited by 33 publications

(33 citation statements)

References 9 publications

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“…These methods, however, depended on geometrical models of the objects of interests, i.e. the tool forceps in [Vitrani et al, 2005] and a pre-operative tumor model in [Bachta and Krupa, 2006], as well as on extensive image processing to segment the objects in B-mode US images.…”

Section: Introductionmentioning

confidence: 99%

Real-time Motion Stabilization with B-mode Ultrasound Using Image Speckle Information and Visual Servoing

Krupa

Fichtinger

Hager

2009

The International Journal of Robotics Research

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We develop visual servo control to stabilize the image of moving soft tissue in B-mode ultrasound (US) imaging. We define the target region in a B-mode US image, and automatically control a robot to manipulate an US probe by minimizing the difference between the target and the most recently acquired US image. We exploit tissue speckle information to compute the relative pose between the probe and the target region. In-plane motion is handled by image region tracking and out-of-plane motion recovered by speckle tracking using speckle decorrelation. A visual servo control scheme is then applied to manipulate the US probe to stabilize the target region in the live US image. In a first experiment involving only translational motion, an US phantom was moved by one robot while stabilizing the target with a second robot holding the US probe. In a second experiment, large 6-DOF motions were manually applied to an US phantom while a 6-DOF medical robot was automatically controlled to compensate for the probe displacement. The obtained results support the hypothesis that automated motion stabilization shows promise for a variety of US-guided medical procedures such as prostate cancer brachytherapy.

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Section: Introductionmentioning

confidence: 99%

Real-time Motion Stabilization with B-mode Ultrasound Using Image Speckle Information and Visual Servoing

Krupa

Fichtinger

Hager

2009

The International Journal of Robotics Research

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“…(here 2) in the US observation plane are controlled by visual servoing. More recently, a study has been presented where 4 d.o.f., which are not necessary in the observation plane of the probe, are controlled by visual servoing [10]. The goal of this last work is to automatically move a laparoscopic instrument to a desired position indicated by a surgeon in the US image which is provided by a motionless probe.…”

Section: Introductionmentioning

confidence: 99%

Guidance of an ultrasound probe by visual servoing

Krupa¹,

Chaumette²

2006

Advanced Robotics

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Abstract-A new visual servoing technique based on two-dimensional (2-D) ultrasound (US) image is proposed in order to control the motion of an US probe held by a medical robot. In opposition to a standard camera which provides a projection of the three-dimensional (3-D) scene to a 2-D image, US information is strictly in the observation plane of the probe and consequently visual servoing techniques have to be adapted. In this paper the coupling between the US probe and a motionless crossed string phantom used for probe calibration is modeled. Then a robotic task is developed which consists of positioning the US image on the intersection point of the crossed string phantom while moving the probe to different orientations. The goal of this task is to optimize the procedure of spatial parameter calibration of 3-D US systems.

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“…Once again, only the DOF (here 2) in the US observation plane are controlled by visual servoing. More recently, a study has been presented where 4 DOF, which are not necessary in the observation plane of the probe, are controlled by visual servoing [10]. The goal of this last work is to automatically move a laparoscopic instrument to a desired position indicated by a surgeon in the US image which is provided by a motionless probe.…”

Section: Introductionmentioning

confidence: 99%