NDLI: Intensity-based visual servoing for non-rigid motion compensation of soft tissue structures due to physiological motion using 4D ultrasound

Content Provider	IEEE Xplore Digital Library
Author	Lee, Deukhee Krupa, Alexandre
Copyright Year	2011
Description	Author affiliation: INRIA Rennes-Bretagne Atlantique, IRISA, Campus de Beaulieu, 35042 cedex, France (Lee, Deukhee; Krupa, Alexandre)
Abstract	This paper presents a visual-servoing method for compensating motion of soft tissue structures using 4D ultra-sound. The motion of soft tissue structures caused by physiological and external motion makes it difficult to investigate them for diagnostic and therapeutic purposes. The main goal is to track non-rigidly moving soft tissue structures and compensate the motion in order to keep a lesion on its target position during a treatment. We define a 3D non-rigid motion model by extending the Thin-Plate Spline (TPS) algorithm. The motion parameters are estimated with intensity-value changes of a points set in a tracking soft tissue structure. Finally, the global rigid motion is compensated with a 6-DOF robot according to the motion parameters of the tracking structure. Simulation experiments are performed with recorded 3D US images of in-vivo soft tissue structures and validate the effectiveness of the non-rigid motion tracking method. Robotic experiments demonstrated the success of our method with a deformable phantom.
Starting Page	2831
Ending Page	2836
File Size	1353064
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094953
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three dimensional displays Probes Robots Target tracking Biological tissues Vectors
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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Intensity-based visual servoing for non-rigid motion compensation of soft tissue structures due to physiological motion using 4D ultrasound

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