# Enhancing Surgical Robots with Embodied Intelligence for Autonomous Ultrasound Scanning

arXiv: https://arxiv.org/abs/2405.00461 · HTML: https://mlsanity.com/paper/2405.00461/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 18 references that are in the map.
- First posted on arXiv 1 May 2024.

## Builds on (most cited first, 7 of 7)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Qwen Technical Report](https://mlsanity.com/paper/2309.16609/) (2023)
- [The Faiss library](https://mlsanity.com/paper/2401.08281/) (2024)
- [Autonomous Robotic Screening of Tubular Structures based only on Real-Time Ultrasound Imaging Feedback](https://mlsanity.com/paper/2011.00099/) (2020)
- [Motion-Aware Robotic 3D Ultrasound](https://mlsanity.com/paper/2107.05998/) (2021)

## Built on by (most cited first, 3 of 3)

- [A Survey of Agentic Reasoning for Large Language Models: Towards Recursively Self-Improving and Collective Agents](https://mlsanity.com/paper/2601.12538/) (2026)
- [A Survey on Medical Large Language Models: Technology, Application, Trustworthiness, and Future Directions](https://mlsanity.com/paper/2406.03712/) (2024)
- [Advancing Embodied Intelligence in Robotic-Assisted Endovascular Procedures: A Systematic Review of AI Solutions](https://mlsanity.com/paper/2504.15327/) (2025)

## Abstract (arXiv)

Ultrasound robots are increasingly used in medical diagnostics and early disease screening. However, current ultrasound robots lack the intelligence to understand human intentions and instructions, hindering autonomous ultrasound scanning. To solve this problem, we propose a novel Ultrasound Embodied Intelligence system that equips ultrasound robots with the large language model (LLM) and domain knowledge, thereby improving the efficiency of ultrasound robots. Specifically, we first design an ultrasound operation knowledge database to add expertise in ultrasound scanning to the LLM, enabling the LLM to perform precise motion planning. Furthermore, we devise a dynamic ultrasound scanning strategy based on a textitthink-observe-execute prompt engineering, allowing LLMs to dynamically adjust motion planning strategies during the scanning procedures. Extensive experiments demonstrate that our system significantly improves ultrasound scan efficiency and quality from verbal commands. This advancement in autonomous medical scanning technology contributes to non-invasive diagnostics and streamlined medical workflows.