Visual servoing for robot-assisted diagnostic ultrasound

Abstract

A robot system for positioning an ultrasound probe has been developed. Ultrasound visual servoing can be used to help ultrasound technicians position the ultrasound probe. The feasibility of visual servoing for motion in the plane of the ultrasound probe in one dimension has been addressed here. Tracking of the carotid artery for a long period of time has been demonstrated in real-time. Two different image processing methods have been evaluated, namely, the Star algorithm and a modified discrete snake algorithm.