The paper presents a dual‑rate controller for robotic ultrasound that limits probe rotation speed to keep contact force within safe bounds. By deriving a closed‑form orientation‑rate limit that accounts for contact stiffness, force‑loop gains, and disturbance rejection, the authors implement a timestamp‑based delay reconstruction and joint‑torque force estimation. Experiments on a gelatin phantom show that the rate‑limited controller reduces first‑second RMS force error by 0.40 N, while a fixed rate cap near the predicted ceiling offers similar force performance but faster convergence.
arXiv:2610.19327v1 Announce Type: new Abstract: Robotic ultrasound can standardize image acquisition and reduce operator workload and variability, but policy learning remains limited by the lack of r...
Slice-to-volume registration between ultrasound (US) and preoperative computed tomography (CT) imaging would enhance many minimally invasive interventions, for example by locating soft tissue structur...
arXiv:2610.08419v1 Announce Type: new Abstract: Slice-to-volume registration between ultrasound (US) and preoperative computed tomography (CT) imaging would enhance many minimally invasive interventi...
Robotic ultrasound can standardize image acquisition and reduce operator workload and variability, but policy learning remains limited by the lack of realistic, controllable simulation environments. W...
arXiv:2607. 20939v1 Announce Type: cross Abstract: Safe steerable catheter control is fundamentally a problem of interaction dynamics: the tip must follow a planned motion, remain compliant against moving tissue, reject friction and hysteresis, and respect a clinically meaningful never-exceed contact-force bound.
arXiv:2509. 19696v4 Announce Type: replace-cross Abstract: Learning-based methods excel at robot motion generation but remain limited in contact-rich physical interaction.
UltraDiff is a modular framework that extends differentiable rendering to medical ultrasound by modeling image formation as a path‑space integral gated by travel time. It derives a Monte Carlo estimator for both the forward ultrasound model and its gradients, enabling gradient‑based optimization of scene parameters. The authors demonstrate the method on inverse geometry estimation, recovering vertebral surfaces from simulated and real B‑mode sweeps without requiring pre‑segmented images, achieving competitive geometric accuracy.
arXiv:2608.28715v1 Announce Type: cross Abstract: Ultrasound-guided interventions can require localization of an untracked 2D frame within a 3D anatomical reference. Rigid slice-to-volume registratio...
World models can enable autonomous ultrasound scanning by predicting the outcomes of probe motions from local observations. Learning this action--observation relationship typically relies on synchroni...
arXiv:2606. 14218v1 Announce Type: cross Abstract: For robots to work safely in household environments, they need to be compliant and react to torque and force feedback during contact.
arXiv:2610.09785v1 Announce Type: new Abstract: World models can enable autonomous ultrasound scanning by predicting the outcomes of probe motions from local observations. Learning this action--obser...
arXiv:2608. 06650v1 Announce Type: cross Abstract: Reduced-order models based on Cosserat-rod theory are now well established, and modeling theory is no longer the primary bottleneck in soft-robot control.