Motion-Aware Robotic 3D Ultrasound
Zhongliang Jiang, Hanyu Wang, Zhenyu Li, Matthias Grimm, Mingchuan, Zhou, Ulrich Eck, Sandra V. Brecht, Tim C. Lueth, Thomas Wendler, Nassir, Navab

TL;DR
This paper introduces a vision-based robotic 3D ultrasound system that tracks and compensates for object motion in real-time, enhancing image quality and enabling automatic adjustments during scans.
Contribution
A novel robotic US system that monitors object movement and dynamically updates the scan trajectory using vision-based tracking and depth sensing.
Findings
System can resume scanning when object moves
Real-time motion compensation improves 3D image quality
Automatic trajectory adjustment enables seamless imaging
Abstract
Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a challenge as unexpected motion decreases the quality of the 3D compounding. Furthermore, attempted adjustment of objects, e.g., adjusting limbs to display the entire limb artery tree, is not allowed for conventional robotic US systems. To address this challenge, we propose a vision-based robotic US system that can monitor the object's motion and automatically update the sweep trajectory to provide 3D compounded images of the target anatomy seamlessly. To achieve these functions, a depth camera is employed to extract the manually planned sweep trajectory after which the normal direction of the object is estimated using the extracted 3D trajectory.…
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