Team, Visitors, External Collaborators
Overall Objectives
Research Program
Highlights of the Year
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
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Section: New Software and Platforms


Ultrasound toolkit for medical robotics applications guided from ultrasound images

Keywords: Echographic imagery - Image reconstruction - Medical robotics - Visual tracking - Visual servoing (VS) - Needle insertion

Functional Description: UsTK, standing for Ultrasound Toolkit, is a cross-platform extension of ViSP software dedicated to 2D and 3D ultrasound image processing and visual servoing based on ultrasound images. Written in C++, UsTK architecture provides a core module that implements all the data structures at the heart of UsTK, a grabber module that allows acquiring ultrasound images from an Ultrasonix or a Sonosite device, a GUI module to display data, an IO module for providing functionalities to read/write data from a storage device, and a set of image processing modules to compute the confidence map of ultrasound images, generate elastography images, track a flexible needle in sequences of 2D and 3D ultrasound images and track a target image template in sequences of 2D ultrasound images. All these modules were implemented on several robotic demonstrators to control the motion of an ultrasound probe or a flexible needle by ultrasound visual servoing.