mlsanityData to 14 Oct 2026

Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study

arXiv 1607.08371 ↗First posted 28 Jul 2016cs.ROcited by 29

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Abstract (arXiv)

Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided ultrasound acquisitions. Our approach uses a structured-light 3D scanner for patient-to-robot and image-to-patient calibration, which in turn is used to plan 3D ultrasound trajectories. These MRI-based trajectories are followed autonomously by the robot and are further refined online using automatic MRI/US registration. Despite the low spatial resolution of structured light scanners, the initial planned acquisition path can be followed with an accuracy of 2.46 +/- 0.96 mm. This leads to a good initialization of the MRI/US registration: the 3D-scan-based alignment for planning and acquisition shows an accuracy (distance between planned ultrasound and MRI) of 4.47 mm, and 0.97 mm after an online-update of the calibration based on a closed loop registration.

Key facts. Cited by 29 papers in the map (data through 14 Oct 2026). First posted on arXiv 28 Jul 2016.

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Citing papers per year: 2020: 1; 2021: 5; 2022: 5; 2023: 8; 2024: 7; 2025: 2; 2026: 1.

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  1. 2021Autonomous Navigation of an Ultrasound Probe Towards Standard Scan Planes with Deep Reinforcement Learningcited by 21
  2. 2022Analysis of Randomization Effects on Sim2Real Transfer in Reinforcement Learning for Robotic Manipulation Taskscited by 14
  3. 2023Intelligent Robotic Sonographer: Mutual Information-based Disentangled Reward Learning from Few Demonstrationscited by 14
  4. 2022VesNet-RL: Simulation-based Reinforcement Learning for Real-World US Probe Navigationcited by 12
  5. 2022Towards Autonomous Atlas-based Ultrasound Acquisitions in Presence of Articulated Motioncited by 12
  6. 2020Interactive Imitation Learning in State-Spacecited by 10
  7. 20226D Robotic Assembly Based on RGB-only Object Pose Estimationcited by 9
  8. 2023Skeleton Graph-based Ultrasound-CT Non-rigid Registrationcited by 9
  9. 2023DefCor-Net: Physics-Aware Ultrasound Deformation Correctioncited by 8
  10. 2024Continual Domain Randomizationcited by 8
  11. 2023DiAReL: Reinforcement Learning with Disturbance Awareness for Robust Sim2Real Policy Transfer in Robot Controlcited by 7
  12. 2021Image-Guided Navigation of a Robotic Ultrasound Probe for Autonomous Spinal Sonography Using a Shadow-aware Dual-Agent Frameworkcited by 6
17 more
  1. 2023DopUS-Net: Quality-Aware Robotic Ultrasound Imaging based on Doppler Signalcited by 5
  2. 2024Class-Aware Cartilage Segmentation for Autonomous US-CT Registration in Robotic Intercostal Ultrasound Imagingcited by 5
  3. 2021Learning Robotic Ultrasound Scanning Skills via Human Demonstrations and Guided Explorationscited by 3
  4. 2023Thoracic Cartilage Ultrasound-CT Registration using Dense Skeleton Graphcited by 3
  5. 2024Autonomous Path Planning for Intercostal Robotic Ultrasound Imaging Using Reinforcement Learningcited by 3
  6. 2024Comparative Evaluation of 3D Reconstruction Methods for Object Pose Estimationcited by 3
  7. 2021Learning Ultrasound Scanning Skills from Human Demonstrationscited by 2
  8. 2022Robot Self-Calibration Using Actuated 3D Sensorscited by 2
  9. 2023On the Localization of Ultrasound Image Slices within Point Distribution Modelscited by 2
  10. 2024Coaching a Robotic Sonographer: Learning Robotic Ultrasound with Sparse Expert's Feedbackcited by 2
  11. 2025Safe Continual Domain Adaptation after Sim2Real Transfer of Reinforcement Learning Policies in Roboticscited by 2
  12. 2021Follow the Curve: Robotic-Ultrasound Navigation with Learning Based Localization of Spinous Processes for Scoliosis Assessmentcited by 1
  13. 2023State Representations as Incentives for Reinforcement Learning Agents: A Sim2Real Analysis on Robotic Graspingcited by 1
  14. 2024Autonomous Robotic Ultrasound System for Liver Follow-up Diagnosis: Pilot Phantom Studycited by 0
  15. 2024Robot-Enabled Machine Learning-Based Diagnosis of Gastric Cancer Polyps Using Partial Surface Tactile Imagingcited by 0
  16. 2025Vibration-Based Energy Metric for Restoring Needle Alignment in Autonomous Robotic Ultrasoundcited by 0
  17. 2026SAMe: A Semantic Anatomy Mapping Engine for Robotic Ultrasoundcited by 0