发表机构
Seoul National University Hospital; Rosota Inc.; Seoul National University College of Medicine; Seoul National University; Eulji University College of Medicine（首尔大学医院; Rosota公司; 首尔大学医学院; 首尔大学; 乙支大学医学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对术中组织变化需持续可视化的需求，提出基于无机器人演示的接触自适应超声监测方法，通过惯性传感器记录探头旋转并构建可解释控制器，在动态体模上显著优于静态保持，实现任务相关视图的稳定维持。
AI 中文摘要
机器人超声通常针对标准化视图、预定义扫描协议或专家扫描复现。我们针对一个不同的角色：当临床医生执行主要手术时，机器人助手维持临床医生选择的视图，以便不断变化的组织保持可观察。我们提出了源自无机器人演示的接触自适应机器人超声监测。Sonologger将六轴惯性传感器夹在临床医生操作的探头上，并在没有机器人、相机或跟踪器的情况下记录同步超声和探头框架相对旋转。不是模仿轨迹，记录测量临床医生使用哪个探头轴和符号来纠正图像偏移。在静止-移动-静止分割产生相对旋转标签之前，移除测量的图像延迟；由于惯性漂移，平移被排除在控制之外。这些测量参数化了演示信息图像-运动控制器（DIMC），一种可解释的、非学习的控制器，结合了波束轴力调节和具有5 N强制后退的独立安全监督器。在动态膀胱体模上，DIMC在7次盲法、姿态配对试验中获取并保持了任务相关视图，而静态保持为7次中的1次（McNemar p = 0.031），并在注射器驱动的水扩张期间保持视图，同时监督器限制了力偏移。该框架为接触自适应术中监测提供了超声上下文的操作表示；临床验证仍是未来工作。
英文摘要
Robotic ultrasound commonly targets standardized views, predefined scanning protocols, or expert-scan reproduction. We target a different role: while a clinician performs the primary procedure, a robotic assistant maintains a clinician-selected view so that changing tissue remains observable. We present contact-adaptive robotic ultrasound monitoring derived from robot-free demonstrations. Sonologger clamps a six-axis inertial sensor to the clinician-operated probe and records synchronized ultrasound and probe-frame relative rotations without a robot, camera, or tracker. Rather than imitating trajectories, the recordings measure which probe axis and sign the clinician uses to correct an image offset. A measured image latency is removed before still-move-still segmentation yields relative-rotation labels; translation is excluded from control because of inertial drift. These measurements parameterize the Demonstration-Informed Image-Motion Controller (DIMC), an interpretable, non-learned controller combined with beam-axis force regulation and an independent safety supervisor with 5 N forced retreat. On a dynamic bladder phantom, DIMC acquired and held a task-relevant view in 7 of 7 blind, pose-paired trials versus 1 of 7 for a static hold (McNemar p = 0.031), and retained the view during syringe-driven hydro-distension while the supervisor bounded the force excursion. The framework offers an operational representation of ultrasound context for contact-adaptive intraoperative monitoring; clinical validation remains future work.
CommentsSubmitted to IEEE ICRA 2027
