Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
The visualization toolkit (2nd ed.): an object-oriented approach to 3D graphics
The visualization toolkit (2nd ed.): an object-oriented approach to 3D graphics
Efficient Region Tracking With Parametric Models of Geometry and Illumination
IEEE Transactions on Pattern Analysis and Machine Intelligence
Lucas-Kanade 20 Years On: A Unifying Framework
International Journal of Computer Vision
Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
Probabilistic speckle decorrelation for 3D ultrasound
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Real-Time quality control of tracked ultrasound
MICCAI'05 Proceedings of the 8th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Active filtering of physiological motion in robotized surgery using predictive control
IEEE Transactions on Robotics
2-D ultrasound probe complete guidance by visual servoing using image moments
IEEE Transactions on Robotics
Automatic tracking of an organ section with an ultrasound probe: compensation of respiratory motion
MICCAI'11 Proceedings of the 14th international conference on Medical image computing and computer-assisted intervention - Volume Part I
MICCAI'11 Proceedings of the 14th international conference on Medical image computing and computer-assisted intervention - Volume Part I
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We develop visual servo control to stabilize the image of moving soft tissue in B-mode ultrasound (US) imaging. We define the target region in a B-mode US image, and automatically control a robot to manipulate a an US probe by minimizing the difference between the target and the most recently acquired US image. We exploit tissue speckle information to compute the relative pose between the probe and the target region. In-plane motion is handled by image region tracking and out-of-plane motion recovered by speckle tracking using speckle decorrelation. A visual servo control scheme is then applied to manipulate the US probe to stabilize the target region in the live US image. In a first experiment involving only translational motion, an US phan-In a first experiment involving only translational motion, an US phantom was moved by one robot while stabilizing the target with a second robot holding the US probe. In a second experiment, large six-degree-of-freedom (DOF) motions were manually applied to an US phantom while a six-DOF medical robot was controlled automatically to compensate for the probe displacement. The obtained results support the hypothesis that automated motion stabilization shows promise for a variety of US-guided medical procedures such as prostate cancer brachytherapy.