Visual servoing for robot-assisted diagnostic ultrasound

TitleVisual servoing for robot-assisted diagnostic ultrasound
Publication TypeConference Paper
Year of Publication2000
AuthorsAbolmaesumi, P., S. E. Salcudean, and W. H. Zhu
Conference NameEngineering in Medicine and Biology Society, 2000. Proceedings of the 22nd Annual International Conference of the IEEE
Pagination2532 -2535 vol.4
Keywordsbiomedical ultrasonics, blood vessels, carotid artery tracking, medical diagnostic imaging, medical image processing, medical robotics, modified discrete snake algorithm, position control, probes, real-time technique, robot-assisted diagnostic ultrasound, Star algorithm, ultrasound probe, ultrasound technicians, visual servoing

A robot system for positioning an ultrasound probe has been developed. Ultrasound visual servoing can be used to help ultrasound technicians position the ultrasound probe. The feasibility of visual servoing for motion in the plane of the ultrasound probe in one dimension has been addressed here. Tracking of the carotid artery for a long period of time has been demonstrated in real-time. Two different image processing methods have been evaluated, namely, the Star algorithm and a modified discrete snake algorithm


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