Image moments-based ultrasound visual servoing

Mebarki, Rafik; Krupa, Alexandre; Chaumette, François

doi:10.1109/robot.2008.4543195

Cited by 16 publications

(15 citation statements)

References 16 publications

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“…The resolution of the images varies from 180 × 210 in Mebarki et al (2008) up too 576 × 768 in Bachta and Krupa (2006). We set the requirement to be the maximum found in the literature, i.e., 576 × 768.…”

Section: Ultrasound Imagementioning

confidence: 99%

An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

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The use of robots in health care has increased dramatically over the last decade. One area of research has been to use robots to conduct ultrasound examinations, either controlled by a physician or autonomously. This paper examines the possibility of using the commercial robot UR5 from Universal Robots to make a tele-operated robotic ultrasound system. Physicians diagnosing patients using ultrasound probes are prone to repetitive strain injuries, as they are required to hold the probe in uncomfortable positions and exert significant static force. The main application for the system is to relieve the physician of this strain by letting the them control a robot that holds the probe. A set of requirements for the system is derived from the state-of-the-art systems found in the research literature. The system is developed through a low-level interface for the robot, effectively building a new software framework for controlling it. Compliance force control and forward flow haptic control of the robot was implemented. Experiments are conducted to quantify the performance of the two control schemes. The force control is estimated to have a bandwidth of 16.6 Hz, while the haptic control is estimated to have a bandwidth of 65.4 Hz for the position control of the slave and 13.4 Hz for the force control of the master. Overall, the system meets the derived requirements and the main conclusion is that it is feasible to use the UR5 robot for robotic ultrasound applications.

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Section: Ultrasound Imagementioning

confidence: 99%

An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

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“…Janvier et al (2014) used a robotic system to autonomously reconstruct a 3D US image of the arteries from the iliac in the lower abdomen down to the popliteal behind the knee; Pahl and Supriyanto (2015) used linear robotic stages to enable autonomous transabdominal ultrasonography of the cervix; Vitrani et al (2005Vitrani et al ( , 2007 implemented an US imagebased visual servoing algorithm for autonomous guidance of an instrument during intracardiac surgery; Mebarki et al (2008Mebarki et al ( , 2010 utilized the concept of US image moments for autonomous visual servoing; Novotny et al (2007) presented a real-time 3D US image-based visual servoing method to guide a surgical instrument to a tracked target location; Abolmaesumi et al (2000) investigated the feasibility of visual servoing for motion in the plane of the US probe in one dimension; Nadeau and Krupa developed US image-based visual servoing techniques, which use image intensities (Nadeau and Krupa, 2013) and moments based on image features (Nadeau and Krupa, 2010); Sauvée et al (2008) introduced visual servoing of instrument motion based on US images through non-linear model predictive control; and Stoll et al (2006) used a line detection algorithm and a passive instrument marker to provide real-time 3D US-based visual servoing of surgical instruments. Our approach differs from those systems because it implements a cooperative control scheme that fuses the US image acquired by an expert, the US probe position, and the contact force on the patient to enable reproducible probe placement -therefore reproducible soft-tissue deformation -with respect to the target organ.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Control with Ultrasound Guidance for Radiation Therapy

et al. 2016

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Radiation therapy typically begins with the acquisition of a CT scan of the patient for planning, followed by multiple days where radiation is delivered according to the plan. This requires that the patient be reproducibly positioned (set up) on the radiation therapy device (linear accelerator) such that the radiation beams pass through the target. Modern linear accelerators provide cone-beam computed tomography (CBCT) imaging, but this does not provide sufficient contrast to discriminate many abdominal soft-tissue targets, and therefore patient setup is often done by aligning bony anatomy or implanted fiducials. Ultrasound (US) can be used to both assist with patient setup and to provide real-time monitoring of soft-tissue targets. However, one challenge is that the ultrasound probe contact pressure can deform the target area and cause discrepancies with the treatment plan. Another challenge is that radiation therapists typically do not have ultrasound experience and therefore cannot easily find the target in the US image. We propose cooperative control strategies to address both the challenges. First, we use cooperative control with virtual fixtures (VFs) to enable acquisition of a planning CT that includes the soft-tissue deformation. Then, for the patient setup during the treatment sessions, we propose to use real-time US image feedback to dynamically update the VFs; this co-manipulation strategy provides haptic cues that guide the therapist to correctly place the US probe. A phantom study is performed to demonstrate that the co-manipulation strategy enables inexperienced operators to quickly and accurately place the probe on a phantom to reproduce a desired reference image. This is a necessary step for patient setup and, by reproducing the reference image, creates soft-tissue deformations that are consistent with the treatment plan, thereby enabling real-time monitoring during treatment delivery.

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“…The concept of Ultrasound Visual Servoing [8] [9] is a theme that has shown good results in the control of probe positioning, with practical application in different areas, helping technicians and automating the diagnosis based on ultrasound images. Using a robot to move the probe, allows knowing the precise position and orientation (pose) in the workspace.…”

Section: Automatic Acquisition Of Ultrasound Imagesmentioning

confidence: 99%

3D femur reconstruction using a robotized ultrasound probe

Torres

Sanches²,

Gonçalves

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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Three-dimensional reconstruction of images is a fundamental procedure in medical imaging because it allows to build virtual models of anatomical units of the human body, useful in several areas, such as in surgical navigation. This paper presents a non freehand Ultrasound acquisition system for human femur reconstruction where the probe displacement and position are accurately controlled by an anthropomorphic arm robot. The aim of this system is to acquire a sequence of 2D parallel cross-sections evenly spaced along the displacement direction in order to perform an accurate 3D reconstruction of the femur to be used in the scope of computer-assisted orthopedic surgery. Here, the system is described as well as the image processing and calibration procedures implemented. Results with real data are presented to illustrate the operation of the system.

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Image moments-based ultrasound visual servoing

Cited by 16 publications

References 16 publications

An Ultrasound Robotic System Using the Commercial Robot UR5

An Ultrasound Robotic System Using the Commercial Robot UR5

Cooperative Control with Ultrasound Guidance for Radiation Therapy

3D femur reconstruction using a robotized ultrasound probe

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