TY - GEN
T1 - Optimization of ultrasound image quality via visual servoing
AU - Chatelain, Pierre
AU - Krupa, Alexandre
AU - Navab, Nassir
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - In this paper we propose a new ultrasound-based visual servoing framework, for the optimization of the positioning of an ultrasound probe manipulated by a robotic arm, in order to improve the quality of the acquired ultrasound images. To this end, we use the recent framework of ultrasound confidence map, which aims at estimating the perpixel quality of the ultrasound signal based on a model of sound propagation in soft tissues. More specifically, we treat the ultrasound confidence maps as a new modality to design a visual servoing control law for image quality optimization. The proposed framework aims at improving ultrasound imaging techniques, such as robotic tele-echography, target tracking or volume reconstruction. Here we illustrate our approach with the application of robotic tele-echography. Experiments are performed on both an ultrasound examination training phantom and ex vivo tissue samples.
AB - In this paper we propose a new ultrasound-based visual servoing framework, for the optimization of the positioning of an ultrasound probe manipulated by a robotic arm, in order to improve the quality of the acquired ultrasound images. To this end, we use the recent framework of ultrasound confidence map, which aims at estimating the perpixel quality of the ultrasound signal based on a model of sound propagation in soft tissues. More specifically, we treat the ultrasound confidence maps as a new modality to design a visual servoing control law for image quality optimization. The proposed framework aims at improving ultrasound imaging techniques, such as robotic tele-echography, target tracking or volume reconstruction. Here we illustrate our approach with the application of robotic tele-echography. Experiments are performed on both an ultrasound examination training phantom and ex vivo tissue samples.
UR - http://www.scopus.com/inward/record.url?scp=84938236625&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7140040
DO - 10.1109/ICRA.2015.7140040
M3 - Conference contribution
AN - SCOPUS:84938236625
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5997
EP - 6002
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -