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| Main Authors: | , , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2510.08106 |
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| _version_ | 1866912639368560640 |
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| author | Li, Zihan Xu, Yixiao Zhang, Lei Han, Taiyu Yang, Xinshan Wang, Yingni Liu, Mingxuan Xin, Shenghai Liu, Linxun Liao, Hongen Ning, Guochen |
| author_facet | Li, Zihan Xu, Yixiao Zhang, Lei Han, Taiyu Yang, Xinshan Wang, Yingni Liu, Mingxuan Xin, Shenghai Liu, Linxun Liao, Hongen Ning, Guochen |
| contents | Liver disease is a major global health burden. While ultrasound is the first-line diagnostic tool, liver sonography requires locating multiple non-continuous planes from positions where target structures are often not visible, for biometric assessment and lesion detection, requiring significant expertise. However, expert sonographers are severely scarce in resource-limited regions. Here, we develop an autonomous lightweight ultrasound robot comprising an AI agent that integrates multi-modal perception with memory attention for localization of unseen target structures, and a 588-gram 6-degrees-of-freedom cable-driven robot. By mounting on the abdomen, the system enhances robustness against motion. Our robot can autonomously acquire expert-level standard liver ultrasound planes and detect pathology in patients, including two from Xining, a 2261-meter-altitude city with limited medical resources. Our system performs effectively on rapid-motion individuals and in wilderness environments. This work represents the first demonstration of autonomous sonography across multiple challenging scenarios, potentially transforming access to expert-level diagnostics in underserved regions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_08106 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Beyond hospital reach: Autonomous lightweight ultrasound robot for liver sonography Li, Zihan Xu, Yixiao Zhang, Lei Han, Taiyu Yang, Xinshan Wang, Yingni Liu, Mingxuan Xin, Shenghai Liu, Linxun Liao, Hongen Ning, Guochen Robotics Liver disease is a major global health burden. While ultrasound is the first-line diagnostic tool, liver sonography requires locating multiple non-continuous planes from positions where target structures are often not visible, for biometric assessment and lesion detection, requiring significant expertise. However, expert sonographers are severely scarce in resource-limited regions. Here, we develop an autonomous lightweight ultrasound robot comprising an AI agent that integrates multi-modal perception with memory attention for localization of unseen target structures, and a 588-gram 6-degrees-of-freedom cable-driven robot. By mounting on the abdomen, the system enhances robustness against motion. Our robot can autonomously acquire expert-level standard liver ultrasound planes and detect pathology in patients, including two from Xining, a 2261-meter-altitude city with limited medical resources. Our system performs effectively on rapid-motion individuals and in wilderness environments. This work represents the first demonstration of autonomous sonography across multiple challenging scenarios, potentially transforming access to expert-level diagnostics in underserved regions. |
| title | Beyond hospital reach: Autonomous lightweight ultrasound robot for liver sonography |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.08106 |