Automatic Guidance of an Ultrasound Probe by Visual Servoing Based on B-Mode Image Moments

  • Rafik Mebarki
  • Alexandre Krupa
  • Christophe Collewet
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5242)


We propose a new visual servo approach to automatically control in real-time the full motion of a 2D ultrasound (US) probe held by a medical robot in order to reach a desired image of motionless soft tissue object in B-mode ultrasound imaging. Combinations of image moments of the observed object cross-section are used as feedback information in the visual control scheme. These visual features are extracted in real-time from the US image thanks to a fast image segmentation method. Simulations performed with a static US volume containing an egg-shaped object, and ex-vivo experiments using a robotized US probe that interacts with a motionless rabbit heart immersed in water, show the validity of this new approach and its robustness to different perturbations. This method shows promise for a variety of US-guided medical interventions that require real-time servoing.


Active Contour Ultrasound Probe Active Contour Model Visual Servoing Percutaneous Cholecystostomy 
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Supplementary material

Electronic Supplementary Material (6,242 KB)


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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Rafik Mebarki
    • 1
  • Alexandre Krupa
    • 1
  • Christophe Collewet
    • 1
  1. 1.IRISAINRIA Rennes-Bretagne AtlantiqueRennesFrance

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