Automatic calibration of a robotized 3D ultrasound imaging system by visual servoing

摘要

Three-dimensional free-hand ultrasound imaging consists of capturing a set of ultrasound images with a 2D ultrasound system and their respective locations in order to position them in a 3D reference frame. Usually the clinician performs the acquisition manually through the use of an optical or magnetic localization system attached to the ultrasound probe. To assist the clinician, we propose to use a robotic system to automatically move the ultrasound probe and measure its position. As for manual 3D ultrasound imaging, it is crucial to know precisely the spatial calibration parameters of the ultrasound system in order to perform accurate 3D imaging. Therefore, we propose to automate the spatial calibration procedure. A robotic task is developed to automatically position the ultrasound image on the intersection point of a cross-wire phantom used for spatial calibration. To perform this task, a new visual servoing technique based on 2D ultrasound images is used to control automatically the motion of the ultrasound probe held by a medical robot