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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...
A new visual servoing method based on B-mode ultrasound images is proposed to automatically control the motion of a 2D ultrasound probe held by a medical robot in order to reach a desired B-scan image of an object of interest. In this approach, combinations of image moments extracted from the current observed object cross-section are used as feedback visual features. The analytical form of the interaction...
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