Section: New Software and Platforms

UsTk

Ultrasound toolkit for medical robotics applications guided from ultrasound images

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

Functional Description: UsTk, standing for Ultrasound Toolkit, is a cross-platform extension of ViSP software dedicated to two- and three-dimensional 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 to acquire 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, to track a needle, and to track an image template. All these modules could be used to control the motion of an ultrasound probe by ultrasound visual servoing.

• Participants: Alexandre Krupa, Marc Pouliquen, Fabien Spindler and Pierre Chatelain

• Partners: Université de Rennes 1 - IRSTEA

• Contact: Alexandre Krupa

• URL: https://team.inria.fr/lagadic/