Description:

This video presents the simulation of a robotic task whose goal is to control and synchronize
the 6-DOF motion of an ultrasound probe with a moving 3D ultrasound volume by tracking the
displacement of a B-scan image of reference.
The approach consists of moving the ultrasound probe in order to minimize the relative position
between a target imaging plane and the ultrasound plane observed by the probe of the moving tissue target.
Rather than relying on segmenting objects of interest, we make direct use of speckle information contained in the image.
Using speckle, we track both out-of plane and in-plane motions.
In our approach, the out-of-plane motion is extracted from the speckle information contained in
the ultrasound image, and an image region tracking method is used to extract the in-plane motion.
Two independent visual control schemes are then applied to automatically move the probe in order
to track the full motion of the target B-scan by visual servoing.
The method was validated thanks to an ultrasound simulator software which allows us to position
and move a 2D virtual probe and simulates a moving 3D ultrasound volume.
This volume is composed from 100 parallel real B-scan images of 180x210 pixels resolution with
a pixel size of 0.2X0.2 mm that were previously captured from an ultrasound speckle phantom at elevation intervals of 0.25 mm.
The first part of the video shows the moving 3D ultrasound volume, the virtual ultrasound plane
and the observed ultrasound image when the motion tracking method and the probe motion control are not activated
and the second part shows the motion synchronization between the ultrasound probe and the 3D volume
when the motion tracking method and the probe control are activated.



Player information:

The video is in mpeg1 format and can be played with any standard video player as for example the Windows media player.

Contact information:

Alexandre Krupa, Lagadic research group, Irisa - Inria
Campus universitaire de Beaulieu 35042 Rennes cedex France
E-mail: alexandre.krupa@irisa.fr, web: http://www.irisa.fr/lagadic


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