# A Unified Platform and Quality Assurance Framework for 3D Ultrasound Reconstruction with Robotic, Optical, and Electromagnetic Tracking

arXiv: https://arxiv.org/abs/2603.20077 · HTML: https://mlsanity.com/paper/2603.20077/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 3 of its 46 references that are in the map.
- First posted on arXiv 20 Mar 2026.

## Builds on (most cited first, 3 of 3)

- [Tracking and Mapping in Medical Computer Vision: A Review](https://mlsanity.com/paper/2310.11475/) (2023)
- [Tracked 3D Ultrasound and Deep Neural Network-based Thyroid Segmentation reduce Interobserver Variability in Thyroid Volumetry](https://mlsanity.com/paper/2108.10118/) (2021)
- [RSV: Robotic Sonography for Thyroid Volumetry](https://mlsanity.com/paper/2112.06761/) (2021)

## Abstract (arXiv)

Three-dimensional (3D) Ultrasound (US) can facilitate diagnosis, treatment planning, and image-guided therapy. However, current studies rarely provide a comprehensive evaluation of volumetric accuracy and reproducibility, highlighting the need for robust Quality Assurance (QA) frameworks, particularly for tracked 3D US reconstruction using freehand or robotic acquisition. This study presents a QA framework for 3D US reconstruction and a flexible open source platform for tracked US research. A custom phantom containing geometric inclusions with varying symmetry properties enables straightforward evaluation of optical, electromagnetic, and robotic kinematic tracking for 3D US at different scanning speeds and insonation angles. A standardised pipeline performs real-time segmentation and 3D reconstruction of geometric targets (DSC = 0.97, FPS = 46) without GPU acceleration, followed by automated registration and comparison with ground-truth geometries. Applying this framework showed that our robotic 3D US achieves state-of-the-art reconstruction performance (DSC-3D = 0.94 +- 0.01, HD95 = 1.17 +- 0.12), approaching the spatial resolution limit imposed by the transducer. This work establishes a flexible experimental platform and a reproducible validation methodology for 3D US reconstruction. The proposed framework enables robust cross-platform comparisons and improved reporting practices, supporting the safe and effective clinical translation of 3D ultrasound in diagnostic and image-guided therapy applications.