Real-Time Tissue Tracking with B-Mode Ultrasound Using Speckle and Visual Servoing

We present a method for real-time tracking of moving soft tissue with B-mode ultrasound (US). The method makes use of the speckle information contained in the US images to estimate the in-plane and out-of-plane motion of a fixed target relative to the ultrasound scan plane. The motion information is then used as closed-loop feedback to a robot which corrects for the target motion. The concept is demonstrated for translation motions in an experimental setup consisting of an ultrasound speckle phantom, a robot for simulating tissue motion, and a robot that performs motion stabilization from US images. This concept shows promise for US-guided procedures that require real-time motion tracking and compensation.

• Type: Conference
• Year: 2007
• Where: MICCAI
• Authors: Alexandre Krupa, Gabor Fichtinger, Gregory D. Hager
• Keywords: Medical Imaging, MICCAI 2007, Real-time Motion Tracking, Tissue Motion, Ultrasound Speckle Phantom