Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

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P. Chatelain, A. Krupa, N. 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), Stockholm, Sweden, May 2016 (bib)

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.

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