Paper

Visuotactile and Explicitly Force-Controlled Robotic Ultrasound for Abdominal Volumetric Reconstruction

arXiv:2606.05848v1 Announce Type: new Abstract: In this paper, we present a robotic ultrasound acquisition system that integrates stereo vision, touch-based feedback, and expert-informed strategies to perform autonomous and adaptive abdominal scans. The system records freehand motion and force data from expert radiologists, creating a framework to capture transducer motion, applied forces, and anatomical scanning strategies. This expert data is replayed to replicate characteristic scans with the robot, forming a foundation for further autonomous capabilities. Using stereo vision, the system g…

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