5 papers
Action-Conditioned World Model for Goal Plane Probe Guidance in Robotic Ultrasound
Siqi Fan, Mingcong Chen, Ran Liu +5
We present an action-conditioned world model framework for goal plane probe guidance in robotic ultrasound, with a focus on neck ultrasound scanning. Autonomous ultrasound tasks of…
Learning-based Hierarchical Tracheal Anatomy Understanding from Sparse Surgical Demonstration Annotations for Ultrasound Robots
Hiu Ching Cheung, Wenchao Yue, Zhengran Han +4
Tracheostomy requires precise localization of the tracheal incision site; however, conventional manual palpation is subjective and often unreliable, while ultrasound utility remain…
PADReg: Physics-Aware Deformable Registration Guided by Contact Force for Ultrasound Sequences
Yimeng Geng, Mingyang Zhao, Fan Xu +3
Ultrasound deformable registration estimates spatial transformations between pairs of deformed ultrasound images, which is crucial for capturing biomechanical properties and enhanc…
USPilot: An Embodied Robotic Assistant Ultrasound System with Large Language Model Enhanced Graph Planner
Mingcong Chen, Siqi Fan, Guanglin Cao +2
In the era of Large Language Models (LLMs), embodied artificial intelligence presents transformative opportunities for robotic manipulation tasks. Ultrasound imaging, a widely used…
Force Sensing Guided Artery-Vein Segmentation via Sequential Ultrasound Images
Yimeng Geng, Gaofeng Meng, Mingcong Chen +4
Accurate identification of arteries and veins in ultrasound images is crucial for vascular examinations and interventions in robotics-assisted surgeries. However, current methods f…