Automatic Guidance of an Ultrasound Probe by Visual Servoing Based on B-Mode Image Moments

Authors:
Rafik Mebarki;Alexandre Krupa;Christophe Collewet
Affiliations:
IRISA, INRIA Rennes-Bretagne Atlantique, Rennes, France 35042;IRISA, INRIA Rennes-Bretagne Atlantique, Rennes, France 35042;IRISA, INRIA Rennes-Bretagne Atlantique, Rennes, France 35042
Venue:
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Year:
2008

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Abstract

We propose a new visual servo approach to automatically control in real-time the full motion of a 2D ultrasound (US) probe held by a medical robot in order to reach a desired image of motionless soft tissue object in B-mode ultrasound imaging. Combinations of image moments of the observed object cross-section are used as feedback information in the visual control scheme. These visual features are extracted in real-time from the US image thanks to a fast image segmentation method. Simulations performed with a static US volume containing an egg-shaped object, and ex-vivoexperiments using a robotized US probe that interacts with a motionless rabbit heart immersed in water, show the validity of this new approach and its robustness to different perturbations. This method shows promise for a variety of US-guided medical interventions that require real-time servoing.