Guidance of an ultrasound probe by visual servoing

Abstract

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.

Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities - techniques and applications

“…Robots can be used in order to automate the 3D reconstruction and the associated calibration procedure. In this regard, Krupa and Chaumette have developed a visual servoing technique for automatic positioning of a 2D ultrasound probe held by a six‐DOF robot manipulator, in such a way that the intersection of a crossed string phantom is always in the image (visual task), while the orientation of the probe can be changed (secondary task). A control scheme was developed to perform the visual task, while the redundancy in the remaining degrees of freedom was resolved by the secondary task.…”

Epipolar Geometry for Vision-guided Laser Surgery

“…But only simulation experiments were performed with a camera running at 50 Hz and a phantom instrument. Krupa and his colleagues at Rennes have proposed the 3D positioning of a probe using visual servoing in ultrasound images: image-based visual servoing on a simulation setup in (Krupa and Chaumette, 2006), visual servoing using moments on simulation setup running at 25 Hz in (Mebarki et al, 2010).…”