Abstract
This study describes a visual servo system using biplane ultrasound imaging using a phased array probe which can provide two cross-sectional images in 20 fps. Using the probe, we developed a robotic visual servo system which tracks a target in human body. The probe was attached with the developed robot with six pneumatic actuators. First, a target in the XY and YZ plane is selected as templates. Then, the target 3D position is estimated by template matching of both the XY and YZ images. Finally, the probe is moved to the position. Phantom and porcine liver tests were performed for validation. From the results, the system can track the targets in 1/16 Hz rotation motion with 20 mm diameter.
