IROS 2017poster9 citations
Strain estimation of moving tissue based on automatic motion compensation by ultrasound visual servoing
Pedro A. Patlan-Rosales, Alexandre Krupa
Abstract
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 motion estimation, while the force control and visual sevoing are enabled, is useful to compute the strain map of the tissue. Ex-vivo experiments performed on a moving abdominal phantom demonstrate the efficiency and robustness of this methodology to compute the strain information of a tissue in motion.
BibTeX
@inproceedings{iros2017_strainestimation,
title = {Strain estimation of moving tissue based on automatic motion compensation by ultrasound visual servoing},
author = {Pedro A. Patlan-Rosales and Alexandre Krupa},
booktitle = {IROS 2017},
year = {2017}
}