A multi-plane approach for ultrasound visual servoing : application to a registration task

International audienceThis paper presents a new image-based approach to control a robotic system equipped with an ultrasound imaging device. Six optimal visual features based on the image moments are extracted from three orthogonal ultrasound images to servo in-plane and out-of-plane motions of the system. Compared to visual servoing techniques based on a single 2D US image, this approach allows a global convergence in the positioning of the probe. The second contribution of this paper is to use this method to perform a multimodal registration task by formulating it as a virtual visual servoing problem. Multimodal registration validations are performed with an ultrasound phantom containing an egg-shaped object