Ultrasound scanning robots enable the automatic imaging of a patient's internal organs by maintaining close contact between the ultrasound probe and the patient's body during a scanning procedure. Comprehensive, high-quality ultrasound scans are essential for providing the patient with an accurate diagnosis and effective treatment plan. An ultrasound scanning robot usually works in a doctor-robot co-existing environment, hence both efficiency and safety during the collaboration should be considered. In this paper, we propose a novel multi-modal control scheme for ultrasound scanning robots, in which three interaction modes are integrated into a single control input. Specifically, the scanning mode drives the robot to track a time-varying trajectory on the patient's body under the desired impedance model; the recovery mode allows the robot to actively recontact the body whenever physical contact between the ultrasound probe and the patient's body is lost; the human-guided mode renders the robot passive such that the doctor can safely intervene to manually reposition the probe. The integration of multiple modes allows the doctor to intervene safely at any time during the task and also maximizes the robot's autonomous scanning ability. The performance of the robot is validated on a collaborative scanning task of a carotid artery examination.
Motion-Compensated Autonomous Scanning for Tumour Localisation using Intraoperative Ultrasound
The Hamlyn Centre for Robotic Surgery, Imperial College London, UK（帝国理工学院哈姆林机器人外科中心）；Department of Surgery and Cancer, Imperial College London, UK（帝国理工学院外科与癌症系）
UltraDP: Generalizable Carotid Ultrasound Scanning with Force-Aware Diffusion Policy
Department of Automation, Tsinghua University（自动化系，清华大学）；Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Center, The Chinese University of Hong Kong, Hong Kong（外科系，创新医学技术中心，利文斯科健康科学研究所及多尺度医学机器人中心，香港中文大学，香港）
ForceU-VLA: A Force-Aware Vision-Language-Action Model for Embodied Ultrasound Scanning
Faculty of Computer Science and Technology, Ocean University of China（中国海洋大学计算机科学与技术学院）；School of Information Science and Engineering, Shandong University（山东大学信息科学与工程学院）；Innovation School of Artificial Intelligence, Hefei University of Technology（合肥工业大学人工智能创新学院）
Enhancing Surgical Robots with Embodied Intelligence for Autonomous Ultrasound Scanning
Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences（中国科学院香港创新研究院）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）
US-VLA: An Ultrasound Vision-Language-Action Model for Embodied Abdomina
Faculty of Computer Science and Technology, Ocean University of China（中国海洋大学计算机科学与技术学院）；School of Information Science and Engineering, Shandong University（山东大学信息科学与工程学院）；the Qilu Second Hospital of Shandong University（山东大学第二齐鲁医院）；Innovation School of Artificial Intelligence, Hefei University of Technology（合肥工业大学人工智能创新学院）
Task-Relevant Feature-Dynamics Fidelity Enables Zero-Shot Sim-to-Real Transfer for Robotic Ultrasound Scanning
The Chinese University of Hong Kong（香港中文大学）；Great Bay University（大湾区大学）；Dongguan Great Bay Institute for Advanced Study（东莞大湾区先进研究院）；The University of Hong Kong（香港大学）；Southern University of Science and Technology（南方科技大学）
Action-Conditioned World Model for Goal Plane Guidance in Robotic Neck Ultrasound
Department of Mechanical and Automation Engineering, Chinese University of Hong Kong（香港中文大学机械与自动化工程学系）；Department of Biomedical Engineering, City University of Hong Kong（香港城市大学生物医学工程学系）；Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences（中国科学院香港创新研究院人工智能与机器人中心）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；Department of Surgical and Interventional Engineering, King’s College London（伦敦国王大学外科与介入工程学系）；Department of Vascular Ultrasound, Xuanwu Hospital, the Capital Medical University（首都医科大学宣武医院血管超声科）
Transforming Surgical Interventions with Embodied Intelligence for Ultrasound Robotics
Centre for Artificial Intelligence and Robotics (CAIR), HKISI-CAS（香港中文大学（深圳）人工智能与机器人中心（HKISI-CAS））；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）
Robotic-assisted Ultrasound for Fetal Imaging: Evolution from Single-arm to Dual-arm System
King’s College London（伦敦国王学院）；Xtronics Ltd.（Xtronics有限公司）；Guy’s & St Thomas’ NHS Foundation Trust（盖伊和圣托马斯NHS基金会信托）；Evelina Children’s Hospital（伊芙琳娜儿童医院）；Queen Mary University of London（伦敦玛丽女王大学）
Robotic Ultrasound-Guided Femoral Artery Reconstruction of Anatomically-Representative Phantoms
Department of Mechanical Engineering and the Laboratory of Computational Sensing and Robotics（机械工程系和计算感知与机器人实验室）；Malone Center for Engineering in Healthcare（工程与医疗中心）；Ross and Carol Nese College of Nursing（罗斯和卡罗尔·内斯护理学院）；R. Cowley Shock Trauma Center, Department of Diagnostic Radiology, School of Medicine（R. Cowley创伤中心、诊断放射科、医学院）
Contact-Adaptive Robotic Ultrasound Probe Control for Tissue Exploration and Continuous Task-Relevant Visualization Using Robot-Free Image-Motion Demonstration
Seoul National University Hospital（首尔大学医院）；Rosota Inc.（Rosota公司）；Seoul National University College of Medicine（首尔大学医学院）；Seoul National University（首尔大学）；Eulji University College of Medicine（乙支大学医学院）
Robot-Assisted Deep Venous Thrombosis Ultrasound Examination using Virtual Fixture
Chair for Computer Aided Medical Procedures and Augmented Reality (CAMP), Technical University of Munich (TUM)（慕尼黑工业大学计算机辅助医疗程序与增强现实主席（CAMP））；Bristol Robotics Laboratory, University of the West of England（西英格兰大学布里斯托尔机器人实验室）；College of Biosystems of Engineering and Food Science, Zhejiang University（浙江大学生物系统工程与食品科学学院）；Institute of Biological and Medical Imaging, Helmholtz Zentrum Munchen（慕尼黑亥姆霍兹中心生物医学影像研究所）；Department for Vascular and Endovascular Surgery, rechts der Isar University Hospital, Technical University of Munich（慕尼黑工业大学伊斯河畔大学医院血管与血管外科）
SAMe: A Semantic Anatomy Mapping Engine for Robotic Ultrasound
School of Computer Science, Wuhan University（武汉大学计算机学院）；Hubei Center for Applied Mathematics, Wuhan University（湖北应用数学中心，武汉大学）；Department of Ultrasound, The Central Hospital of Wuhan（武汉市中心医院超声科）；Department of Medical Ultrasound, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology（同济医院，同济医学院，华中科技大学医学影像科）；Department of Ultrasound in Medicine, Renmin Hospital of Wuhan University（武汉大学仁医医院医学超声科）；University Hospital, Johann-Wolfgang-Goethe University Frankfurt am Main（法兰克福歌德大学医学院大学医院）；College of Computing and Data Science, Nanyang Technological University（南洋理工大学计算与数据科学学院）
Seeing Globally, Refining Locally: Global Visual Guidance and Local Ultrasound Cues for Robust Freehand 3-D Ultrasound Reconstruction
Department of Mechanical Engineering, The University of Hong Kong（香港大学机械工程系）；Multi-Scale Medical Robotics Center（多尺度医疗机器人中心）；Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong（香港中文大学机械与自动化工程系）
Anatomical Prior-Driven Framework for Autonomous Robotic Cardiac Ultrasound Standard View Acquisition
State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology（华中科技大学智能制造装备与技术国家重点实验室）；School of Biomedical Engineering, Harbin Institute of Technology (Shenzhen)（哈尔滨工业大学（深圳）生物医学工程学院）；Information Intelligence Lab, Department of Electrical Engineering, National Chung Hsing University（中原大学电子工程系信息智能实验室）；Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology（华中科技大学医学装备科学与工程研究院）；Department of Ultrasound Medicine, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology（华中科技大学同济医学院附属同济医院超声医学科）；Institute of Systems Science (ISS), National University of Singapore (NUS)（新加坡国立大学系统科学研究所）
Learning-based Hierarchical Tracheal Anatomy Understanding from Sparse Surgical Demonstration Annotations for Ultrasound Robots
The Chinese University of Hong Kong（香港中文大学）；Imperial College London（伦敦帝国学院）；Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences（中国科学院香港创新研究院）；SLAI Shenzhen Loop Area Institute（深圳环域先进人工智能研究院）
