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A robotic control framework for quantitative ultrasound elastography

Pedro Alfonso Patlan-Rosales 1, 2
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 : This thesis concerns the development of a robotic control framework for quantitative ultrasound elastography. Ultrasound elastography is a technology that unveils elastic parameters of a tissue, which are commonly related with certain pathologies. This thesis proposes three novel robotic approaches to assist examiners with elastography. The first approach deals with the control of a robot actuating an ultrasound probe to perform palpation motion required for ultrasound elastography. The elasticity of the tissue is used to design a servo control law to keep a stiff tissue of interest in the field of view of the ultrasound probe. Additionally, the orientation of the probe is controlled by a human user to explore other tissue while elastography is performed. The second approach exploits deformable image registration of ultrasound images to estimate the tissue elasticity and to help in the automatic compensation by ultrasound visual servoing of a motion introduced into the tissue. The third approach offers a methodology to feel the elasticity of the tissue by moving a virtual probe in the ultrasound image with a haptic device while the robot is performing palpation motion. Experimental results of the three robotic approaches over phantoms with tissue-like offer an excellent perspective for robotic-assistance for ultrasound elastography.
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Submitted on : Friday, April 20, 2018 - 11:10:06 AM
Last modification on : Wednesday, September 9, 2020 - 3:51:45 AM


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  • HAL Id : tel-01718721, version 3


Pedro Alfonso Patlan-Rosales. A robotic control framework for quantitative ultrasound elastography. Robotics [cs.RO]. Université Rennes 1, 2018. English. ⟨NNT : 2018REN1S005⟩. ⟨tel-01718721v3⟩



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