Confidence-driven control of an ultrasound probe: Target-specific acoustic window optimization

Chatelain P, Krupa A, Navab N (2016)

Publication Type: Conference contribution

Publication year: 2016

Journal

Proceedings - IEEE International Conference on Robotics and Automation Institute of Electrical and Electronics Engineers

Publisher: Institute of Electrical and Electronics Engineers Inc.

Book Volume: 2016-June

Pages Range: 3441-3446

Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation

Event location: Stockholm, SWE

ISBN: 9781467380263

DOI: 10.1109/ICRA.2016.7487522

Abstract

We propose a control framework to optimize the quality of robotic ultrasound imaging while tracking an anatomical target. We use a multitask approach to control the in-plane motion of a convex probe mounted on the end-effector of a robotic arm, based not only on the position of the target in the image, but also on features extracted from an ultrasound confidence map. The resulting control law therefore guarantees a good image quality, while keeping the target aligned with the central ultrasound scan-line. Potential applications of the proposed approach are, for example, teleoperated ultrasound examination, motion compensation for ultrasound-guided interventions, or automatic ultrasound acquisition. We demonstrate our approach with experiments on an ultrasound examination training phantom in motion.

Involved external institutions

Université de Rennes 1 / University of Rennes 1 FR France (FR) Institut de Recherche en Informatique et Systèmes Aléatoires (CNRS-IRISA) FR France (FR) Technische Universität München (TUM) DE Germany (DE)

How to cite

APA:

Chatelain, P., Krupa, A., & Navab, N. (2016). Confidence-driven control of an ultrasound probe: Target-specific acoustic window optimization. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3441-3446). Stockholm, SWE: Institute of Electrical and Electronics Engineers Inc..

MLA:

Chatelain, Pierre, Alexandre Krupa, and Nassir Navab. "Confidence-driven control of an ultrasound probe: Target-specific acoustic window optimization." Proceedings of the 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, SWE Institute of Electrical and Electronics Engineers Inc., 2016. 3441-3446.

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