3 accepted papers
In this paper we present a novel approach to track and explore stiff tissues within 3-D ultrasound volumes acquired by a medical 3-D ultrasound probe mounted on a six degrees of freedom robotic arm. Autonomous palpation and on-line elastography process are implemented to estimate the elastic propert…
This paper presents a robot-assisted system to obtain elastic information of a moving tissue using a 2-D ultrasound probe actuated by a 6 degrees of freedom robotic arm. The proposed method combines ultrasound image-based visual servoing, force control and non-rigid motion estimation. We present how…
The precise location of tumors is an important step in surgical planning that can be obtained from mechanical properties of soft tissues. In this paper we propose a robotic-assisted palpation system that automatically moves an ultrasound probe to optimize the elastography process and improve the res…