19 citations · 33 across the 13 of their papers we have counts for
15 papers
Recon2Servo: Robotic Ultrasound Visual Servoing via Learned Image-to-Motion Inference
Yameng Zhang, Pei Liu, Dianye Huang +5
Ultrasound visual servoing is essential for autonomous robotic ultrasound, yet 6-DoF probe control from 2D B-mode images remains challenging due to limited and ambiguous out-of-pla…
ReWeight: Leveraging Human Data for VLA Post-Training via Demonstration Retrieval and Sample Weighting
Chenwei Wang, Dianye Huang, Match W. L. Ko +2
Post-training vision-language-action (VLA) models for specific robots and tasks requires in-domain demonstrations, yet collecting diverse robot data is costly. Egocentric human dem…
Seeing Globally, Refining Locally: Global Visual Guidance and Local Ultrasound Cues for Robust Freehand 3-D Ultrasound Reconstruction
Yameng Zhang, Zhongyu Chen, Dianye Huang +3
Freehand 3-D ultrasound (US) imaging has attracted increasing attention owing to its intuitive volumetric visualization, ease of use, and low cost. However, accurate 3-D reconstruc…
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
RAG-RUSS: A Retrieval-Augmented Robotic Ultrasound for Autonomous Carotid Examination
Dianye Huang, Ziping Cong, Nassir Navab +1
Robotic ultrasound (US) has recently attracted increasing attention as a means to overcome the limitations of conventional US examinations, such as the strong operator dependence.…
ConVibNet: Needle Detection during Continuous Insertion via Frequency-Inspired Features
Jiamei Guo, Zhehao Duan, Maria Neiiendam +3
Purpose: Ultrasound-guided needle interventions are widely used in clinical practice, but their success critically depends on accurate needle placement, which is frequently hindere…
Improving Robustness to Out-of-Distribution States in Imitation Learning via Deep Koopman-Boosted Diffusion Policy
Dianye Huang, Nassir Navab, Zhongliang Jiang
Integrating generative models with action chunking has shown significant promise in imitation learning for robotic manipulation. However, the existing diffusion-based paradigm ofte…
Freehand 3D Ultrasound Imaging: Sim-in-the-Loop Probe Pose Optimization via Visual Servoing
Yameng Zhang, Dianye Huang, Max Q. -H. Meng +2
Freehand 3D ultrasound (US) imaging using conventional 2D probes offers flexibility and accessibility for diverse clinical applications but faces challenges in accurate probe pose…
Vibration-Based Energy Metric for Restoring Needle Alignment in Autonomous Robotic Ultrasound
Zhongyu Chen, Chenyang Li, Xuesong Li +5
Precise needle alignment is essential for percutaneous needle insertion in robotic ultrasound-guided procedures. However, inherent challenges such as speckle noise, needle-like art…
Tactile-Guided Robotic Ultrasound: Mapping Preplanned Scan Paths for Intercostal Imaging
Yifan Zhang, Dianye Huang, Nassir Navab +1
Medical ultrasound (US) imaging is widely used in clinical examinations due to its portability, real-time capability, and radiation-free nature. To address inter- and intra-operato…
Robotic CBCT Meets Robotic Ultrasound
Feng Li, Yuan Bi, Dianye Huang +2
The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography - ultrasound (CT-US) guid…
VibNet: Vibration-Boosted Needle Detection in Ultrasound Images
Dianye Huang, Chenyang Li, Angelos Karlas +4
Precise percutaneous needle detection is crucial for ultrasound (US)-guided interventions. However, inherent limitations such as speckles, needle-like artifacts, and low resolution…
Robot-Assisted Deep Venous Thrombosis Ultrasound Examination using Virtual Fixture
Dianye Huang, Chenguang Yang, Mingchuan Zhou +3
Deep Venous Thrombosis (DVT) is a common vascular disease with blood clots inside deep veins, which may block blood flow or even cause a life-threatening pulmonary embolism. A typi…
Machine Learning in Robotic Ultrasound Imaging: Challenges and Perspectives
Yuan Bi, Zhongliang Jiang, Felix Duelmer +2
This article reviews the recent advances in intelligent robotic ultrasound (US) imaging systems. We commence by presenting the commonly employed robotic mechanisms and control tech…
SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphs
Guangyao Zhai, Xiaoni Cai, Dianye Huang +5
Object rearrangement is pivotal in robotic-environment interactions, representing a significant capability in embodied AI. In this paper, we present SG-Bot, a novel rearrangement f…