Towards Autonomous Robotic Minimally Invasive Ultrasound Scanning and Vessel Reconstruction on Non-Planar Surfaces

In our recently published work, we explore the challenges and a potential solution for enabling autonomous intracorporeal Ultrasound (US) scanning during robotic surgery. Enabled by a novel kinematic sensor-fusion scheme, we demonstrate the autonomous navigation and probe reorientation along a phantom hepatic vessel structure. Check out our paper for in-depth results and future directions of our research on autonomous robotic surgery.

https://www.frontiersin.org/articles/10.3389/frobt.2022.940062/full?&utm_source=Email_to_authors_&utm_medium=Email&utm_content=T1_11.5e1_author&utm_campaign=Email_publication&field=&journalName=Frontiers_in_Robotics_and_AI&id=940062

 

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