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Dokumenttyp:
Konferenzbeitrag
Autor(en):
Chatelain, P.; Krupa, A.; Marchal, M.
Titel:
Real-Time Needle Detection and Tracking Using a Visually Servoed 3D Ultrasound Probe
Abstract:
In this paper, we present a method to localize and track manually inserted needles in real-time using a three-dimensional ultrasound probe mounted on a robotized arm. The system tracks the needle in real-time using image processing. We first propose a new algorithm capable of robustly detecting a needle from the moment it is inserted, without any a priori information on the insertion direction. By combining the random sample consensus (RANSAC) algorithm with Kalman filtering in closed loop,...     »
Stichworte:
ICRA,IRISA
Kongress- / Buchtitel:
Icra 2013
Jahr:
2013
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