接触感知阻抗控制器用于机器人辅助超声成像
Contact-Aware Impedance Controller for Robot-Assisted Ultrasound Imaging
- Center for Robotics and AI (ROMER), Middle East Technical University（中东技术大学机器人与人工智能中心（ROMER））
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
提出基于B模式超声图像的接触感知与阻抗控制方法，实现接触定位与力降低，实验显示接触定位误差1.46mm，最大压缩力降低36.3%，提升安全性与准确性。
AI中文摘要：
安全的机器人辅助超声成像需要一种可靠的控制器，能够检测并定位探头与组织之间的相互作用。本文提出了一种基于B模式超声图像的接触感知方法，以及一种用于机器人超声成像的接触感知阻抗控制器。所提方法独立于力测量来检测声学接触，从而实现接触条件下的力/力矩调零，以减少残余扳手偏差。在接触过程中，该方法沿弯曲探头表面连续估计有效接触位置，并利用该位置更新控制器的交互坐标系，从而在成像过程中实现对物理探头-组织接触点的视觉伺服。在琼脂体模上的实验表明，在探头滚动角从$-15^\circ$到$15^\circ$范围内，接触定位的均方根误差为$\mathbf{1.46 \pm 0.14}$~mm。在静态滚动过程中，所提出的控制器保持了与传统固定坐标系阻抗控制器相当的任务空间跟踪精度，同时将最大压缩交互力从$\mathbf{31.56}$~N降低到$\mathbf{20.09}$~N，对应$\mathbf{36.3\\%}$的降低。这些结果展示了超声图像作为直接接触反馈在安全、准确的机器人辅助超声成像中的潜力。
英文摘要：
Safe robot-assisted ultrasound imaging requires a reliable controller able to detect and localize probe--tissue interaction. In this paper, we present a B-mode ultrasound image-based contact perception method and a contact-aware impedance controller for robotic ultrasound imaging. The proposed method detects acoustic contact independently of force measurements, enabling contact-conditioned force/torque taring to reduce residual wrench bias. During contact, the method continuously estimates the effective contact location along the curved probe surface and uses it to update the controller interaction frame, enabling visual servoing of the physical probe--tissue contact point during imaging. Experiments on an agar phantom demonstrated a contact-localization RMSE of $\mathbf{1.46 \pm 0.14}$~mm over probe roll angles from $\mathbf{-15^\circ}$ to $\mathbf{15^\circ}$. During static rolling, the proposed controller maintained task-space tracking accuracy comparable to a conventional fixed-frame impedance controller while reducing the maximum compressive interaction force from $\mathbf{31.56}$~N to $\mathbf{20.09}$~N, corresponding to a $\mathbf{36.3\%}$ reduction. These results demonstrate the potential of ultrasound images as direct contact feedback for safe and accurate robot-assisted ultrasound imaging.
