Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing.

Alexandre Krupa, Gabor Fichtinger, Gregory D. Hager

Research output: Contribution to journalArticlepeer-review

7 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)1-8
Number of pages8
JournalMedical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
Issue numberPt 2
StatePublished - 2007
Externally publishedYes

ASJC Scopus subject areas

  • Medicine(all)

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