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Asservissement visuel échographique : Application au positionnement et au suivi de coupes anatomiques

Caroline Nadeau 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Our work deals with the use of visual servoing strategy to control the motions of an ultrasound (US) probe mounted on a robotic arm in an eye-in-hand con guration. The aim is to automatically position the probe on a desired anatomic cross-section or to stabilize a desired US image while compensating physiological motions of the patient. Two di fferent approaches are described and validated in simulation environment. First a geometric approach is proposed where six visual features are built from 2D image moments extracted from three orthogonal images. The interaction matrix associated to these features is modeled and allows the control of both in-plane and out-of-plane motions of the probe for positioning tasks. Nevertheless, the effi ciency of the method is dependent on the good segmentation of the observed structures. Subsequently an intensity-based approach is detailed where the visual vector is directly constituted by the intensity values of a set of image points. With no segmentation or image processing step, this new approach allows a large range of US image to be considered in the visual servoing scheme. The analytical form of the interaction matrix associated to this new visual information is given and the intensity-based approach is validated through several robotic experiments.
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Submitted on : Wednesday, June 6, 2012 - 2:21:56 PM
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  • HAL Id : tel-00704536, version 1

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Caroline Nadeau. Asservissement visuel échographique : Application au positionnement et au suivi de coupes anatomiques. Robotique [cs.RO]. Université Rennes 1, 2011. Français. ⟨tel-00704536⟩

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