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This paper presents a visual-servoing method that is based on 2-D ultrasound (US) images. The main goal is to guide a robot actuating a 2-D US probe in order to reach a desired cross-section image of an object of interest. The method we propose allows the control of both in-plane and out-of-plane probe motions. Its feedback visual features are combinations of moments extracted from the observed image...
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...
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