Control of an ultrasound probe by adaptive visual servoing

Krupa, Alexandre; Chaumette, François

doi:10.1109/iros.2005.1545272

Cited by 14 publications

(6 citation statements)

References 15 publications

(15 reference statements)

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“…The ultrasound images are used to reconstruct the 3D profile of arteries. The same robot has been used in studies of Krupa et al that investigated an ultrasound-based visual servoing system [11,12]. Abolmaesumi et al developed a tele-operated ultrasound system that allows the radiologist to view and manipulate the ultrasound transducer at remote site, while being assisted by force and image servo controllers [13].…”

Section: Introductionmentioning

confidence: 99%

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Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces

Abayazid

Moreira

Shahriari

et al. 2015

Medical Engineering & Physics

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In this paper, we present a system capable of automatically steering a bevel-tipped flexible needle under ultrasound guidance toward a physical target while avoiding a physical obstacle embedded in gelatin phantoms and biological tissue with curved surfaces. An ultrasound pre-operative scan is performed for three-dimensional (3D) target localization and shape reconstruction. A controller based on implicit force control is developed to align the transducer with curved surfaces to assure the maximum contact area, and thus obtain an image of sufficient quality. We experimentally investigate the effect of needle insertion system parameters such as insertion speed, needle diameter and bevel angle on target motion to adjust the parameters that minimize the target motion during insertion. A fast sampling-based path planner is used to compute and periodically update a feasible path to the target that avoids obstacles. We present experimental results for target reconstruction and needle insertion procedures in gelatin-based phantoms and biological tissue. Mean targeting errors of 1.46 ± 0.37 mm, 1.29 ± 0.29 mm and 1.82 ± 0.58 mm are obtained for phantoms with inclined, curved and combined (inclined and curved) surfaces, respectively, for insertion distance of 86–103 mm. The achieved targeting errors suggest that our approach is sufficient for targeting lesions of 3 mm radius that can be detected using clinical ultrasound imaging systems.

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Section: Introductionmentioning

confidence: 99%

“…Besides proper contact force, the alignment/orientation of the ultrasound transducer is important to maintain the image quality. This alignment can be achieved by visual servoing [11] and also by force/torque control. However, the presented scanning systems require a pre-determined transducer path.…”

Section: Introductionmentioning

confidence: 99%

Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces

Abayazid

Moreira

Shahriari

et al. 2015

Medical Engineering & Physics

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“…Visual feedback control is a very flexible and effective method for the autonomous performance of various tasks for robotic systems [1,2]. It is currently employed in a wide range of applications, including not only the fields of robotics and factory automation, but also automatic guidance of surgical instruments [3], control of an ultrasound probe held by a medical robot [4], injection of biological cells [5], and others. The authors have discussed passivity-based control for a moving target object in a three-dimensional (3D) workspace with a fixed camera configuration [6].…”

Section: Introductionmentioning

confidence: 99%

Stabilizing predictive visual feedback control for fixed camera systems

Murao

Kawai

Fujita

2011

Elect Comm in Japan

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SUMMARYThis paper investigates vision-based robot control via a receding horizon control strategy for fixed camera systems, as stabilizing predictive visual feedback control. First, a visual motion robot error system with a fixed camera configuration is reconstructed in order to improve estimation performance. Next, stabilizing receding horizon control for three-dimensional visual feedback systems, which are highly nonlinear and relatively fast systems, is proposed. The stability of the receding horizon control scheme is guaranteed by using a terminal cost derived from an energy function of the visual motion robot error system. Furthermore, simulation and actual nonlinear experimental results are assessed with respect to stability and performance.

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“…In classical visual servoing, L s is called the interaction matrix (see [9]) and is determined from the geometrical model of the considered system. For our system, it is analytically obtained from the modelling of the coupling between the ultrasound observation plane and the two converging straight lines (modelling details are given in [10]). As we can note L s depends only on the components of the unitary vectors s u 1 = (u 1x , u 1y , u 1z ) and s u 2 = (u 2x , u 2y , u 2z ) of the straight lines D 1 and D 2 and the 2D coordinates p 1 and p 2 , all expressed in the probe frame.…”

Section: Visual Servoingmentioning

confidence: 99%

Automatic calibration of a robotized 3D ultrasound imaging system by visual servoing

Krupa

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

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To cite this version:A. Krupa. Automatic calibration of a robotized 3D ultrasound imaging system by visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'2006, 2006, Orlando, Florida, France. pp.4136-4141, 2006. Abstract-Three-dimensional free-hand ultrasound imaging consists of capturing a set of ultrasound images with a 2D ultrasound system and their respective locations in order to position them in a 3D reference frame. Usually the clinician performs the acquisition manually through the use of an optical or magnetic localization system attached to the ultrasound probe. To assist the clinician, we propose to use a robotic system to automatically move the ultrasound probe and measure its position. As for manual 3D ultrasound imaging, it is crucial to know precisely the spatial calibration parameters of the ultrasound system in order to perform accurate 3D imaging. Therefore, we propose to automate the spatial calibration procedure. A robotic task is developed to automatically position the ultrasound image on the intersection point of a cross-wire phantom used for spatial calibration. To perform this task, a new visual servoing technique based on 2D ultrasound images is used to control automatically the motion of the ultrasound probe held by a medical robot.Index Terms-Visual servoing, 3D ultrasound imaging, medical robotics.

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Control of an ultrasound probe by adaptive visual servoing

Cited by 14 publications

References 15 publications

Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces

Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces

Stabilizing predictive visual feedback control for fixed camera systems

Automatic calibration of a robotized 3D ultrasound imaging system by visual servoing

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