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Quality-driven control of a robotized ultrasound probe

Pierre Chatelain 1, 2, 3
2 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 : The robotic guidance of an ultrasound probe has been extensively studied as a way to assist sonographers in performing an exam. In particular, ultrasound-based visual servoing methods have been developed to fulfill various tasks, such as compensating for physiological motion, maintaining the visibility of an anatomic target during teleoperation, or tracking a surgical instrument. However, due to the specific nature of ultrasound images, guaranteeing a good image quality during the procedure remains an unaddressed challenge. This thesis deals with the control of ultrasound image quality for a robot-held ultrasound probe. The ultrasound signal quality within the image is represented by a confidence map, which is used to design a servo control law for optimizing the placement of the ultrasound probe. A control fusion is also proposed to optimize the acoustic window for a specific anatomical target which is tracked in the ultrasound images. The method is illustrated in a teleoperation scenario, where the control is shared between the automatic controller and a human operator.
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  • HAL Id : tel-01426511, version 2

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Pierre Chatelain. Quality-driven control of a robotized ultrasound probe. Medical Imaging. Université Rennes 1, 2016. English. ⟨NNT : 2016REN1S092⟩. ⟨tel-01426511v2⟩

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