Maintaining visibility constraints during tele-echography with ultrasound visual servoing

Li, Tao; Kermorgant, Olivier; Krupa, Alexandre

doi:10.1109/icra.2012.6224974

Cited by 13 publications

(12 citation statements)

References 15 publications

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“…In figure 7, in sections D and G, h x f > 0 and h θm = 0, we observe that u = u op and ω = ω op . From (8), u = u op is to be expected as u does not impact the vanishing point position x f . As seen in figure 8, in part G frame 160, the vanishing point coordinate x f is on the right side of the camera output.…”

Section: B Results Of Semi-autonomous Navigationmentioning

confidence: 94%

“…However, the pseudo-inverse is not continuous since the rank of HJ s could switch from null if all features are in their safe intervals to 1 when only one feature leaves its interval or 2 (full rank) when the two features are outside their safe intervals. To avoid discontinuities in the control we propose therefore to replace like in [8] the Moore-Penrose pseudoinverse operator + by the continuous pseudo-inverse operator H introduced in the framework of varying-feature-set [9]. This operator allows the inversion of a matrix J weighted by a diagonal matrix H by applying the following definition:…”

Section: Wall Avoidance Task By Visual Servoingmentioning

confidence: 99%

“…This concept of an interval that triggers the visual servoing was introduced in [7] and used in [8] to insure the visibility of an organ section during remote ultrasound tele-echography. By adapting this framework to our wall avoidance task, we propose the following visual control law aiming at keeping the visual features inside their interval:…”

Section: Wall Avoidance Task By Visual Servoingmentioning

confidence: 99%

See 2 more Smart Citations

Vision-based assistance for wheelchair navigation along corridors

Pasteau

Krupa

Babel

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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In case of motor impairments, steering a wheelchair can become a hazardous task. Typically, along corridors, joystick jerks induced by uncontrolled motions are source of wall collisions. This paper describes a vision based assistance solution for safe indoor semi-autonomous navigation purposes. To this aim, the control process is based on a visual servoing process designed for wall avoidance purposes. As the patient manually drives the wheelchair, a virtual guide is defined to progressively activate an automatic trajectory correction. The proposed solution does not require any knowledge of the environment. Experiments have been conducted over corridors that present different configurations and illumination conditions. Results demonstrate the ability of the system to smoothly and adaptively assist people during their motions.

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Section: B Results Of Semi-autonomous Navigationmentioning

confidence: 94%

Section: Wall Avoidance Task By Visual Servoingmentioning

confidence: 99%

Section: Wall Avoidance Task By Visual Servoingmentioning

confidence: 99%

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Vision-based assistance for wheelchair navigation along corridors

Pasteau

Krupa

Babel

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…However, as the rank of H L ω can switch from 3 to 0 when the visual features come back in the safe area, this control law will lead to discontinuity issues during the rank switching as we showed from a simulation study presented in our previous work [24]. We therefore propose to replace the classical Moore-Penrose pseudo-inverse operator by the continuous pseudo-inverse operator proposed in the framework of varying-feature-set [25] to avoid these control law discontinuities.…”

Section: Visibility Assistance Taskmentioning

confidence: 88%

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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“…is a diagonal matrix that weights the error e 1 where h Z h and h X h ∈ [0; 1] are the varying weights respectively associated to the features Z h and X h . Such a concept of an interval that triggers the regulation of a task was illustrated in [23] and [24] within the domain of visual servoing for ultrasound tele-echography. But it has to be noted that the matrix (HJ 1 ) + H does not remain continuous, as the rank of the matrix HJ 1 may change from zero to 2 depending on the values of h Z h and h X h .…”

Section: Task Division and Stacking Using Redundancy Formalismmentioning

confidence: 99%

On equitably approaching and joining a group of interacting humans

Narayanan¹,

Spalanzani²,

Pasteau³

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this work we introduce a low-level system that could be employed by a social robot like a robotic wheelchair or a humanoid, for approaching a group of interacting humans, in order to become a part of the interaction. Taking into account an interaction space that is created when at least two humans interact, a meeting point can be calculated where the robot should reach in order to equitably share space among the interacting group. We propose a sensor-based control task which uses the position and orientation of the humans with respect to the sensor as inputs, to reach the said meeting point while respecting spatial social constraints. Trials in simulation demonstrate the convergence of the control task and its capability as a low-level system for human-aware navigation.

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Maintaining visibility constraints during tele-echography with ultrasound visual servoing

Cited by 13 publications

References 15 publications

Vision-based assistance for wheelchair navigation along corridors

Vision-based assistance for wheelchair navigation along corridors

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

On equitably approaching and joining a group of interacting humans

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