# Anatomical Prior-Driven Framework for Autonomous Robotic Cardiac Ultrasound Standard View Acquisition

arXiv: https://arxiv.org/abs/2603.21134 · HTML: https://mlsanity.com/paper/2603.21134/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 16 of its 31 references that are in the map.
- First posted on arXiv 22 Mar 2026.

## Builds on (most cited first, 16 of 16)

- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [Deep Reinforcement Learning with Double Q-learning](https://mlsanity.com/paper/1509.06461/) (2015)
- [U-Mamba: Enhancing Long-range Dependency for Biomedical Image Segmentation](https://mlsanity.com/paper/2401.04722/) (2024)
- [Embracing Imperfect Datasets: A Review of Deep Learning Solutions for Medical Image Segmentation](https://mlsanity.com/paper/1908.10454/) (2019)
- [A Topological Loss Function for Deep-Learning based Image Segmentation using Persistent Homology](https://mlsanity.com/paper/1910.01877/) (2019)
- [Evaluation of Algorithms for Multi-Modality Whole Heart Segmentation: An Open-Access Grand Challenge](https://mlsanity.com/paper/1902.07880/) (2019)
- [Unleashing the Potential of SAM for Medical Adaptation via Hierarchical Decoding](https://mlsanity.com/paper/2403.18271/) (2024)
- [A Deep-Learning Approach For Direct Whole-Heart Mesh Reconstruction](https://mlsanity.com/paper/2102.07899/) (2021)
- [Cardiac Segmentation with Strong Anatomical Guarantees](https://mlsanity.com/paper/2006.08825/) (2020)
- [Robotic Ultrasound Imaging: State-of-the-Art and Future Perspectives](https://mlsanity.com/paper/2307.05545/) (2023)
- [GraphEcho: Graph-Driven Unsupervised Domain Adaptation for Echocardiogram Video Segmentation](https://mlsanity.com/paper/2309.11145/) (2023)
- [Machine Learning in Robotic Ultrasound Imaging: Challenges and Perspectives](https://mlsanity.com/paper/2401.02376/) (2024)
- [Cardiac Copilot: Automatic Probe Guidance for Echocardiography with World Model](https://mlsanity.com/paper/2406.13165/) (2024)
- [Topologically Faithful Multi-class Segmentation in Medical Images](https://mlsanity.com/paper/2403.11001/) (2024)
- [DAM-Seg: Anatomically accurate cardiac segmentation using Dense Associative Networks](https://mlsanity.com/paper/2502.15128/) (2025)

## Abstract (arXiv)

Cardiac ultrasound diagnosis is critical for cardiovascular disease assessment, but acquiring standard views remains highly operator-dependent. Existing medical segmentation models often yield anatomically inconsistent results in images with poor textural differentiation between distinct feature classes, while autonomous probe adjustment methods either rely on simplistic heuristic rules or black-box learning. To address these issues, our study proposed an anatomical prior (AP)-driven framework integrating cardiac structure segmentation and autonomous probe adjustment for standard view acquisition. A YOLO-based multi-class segmentation model augmented by a spatial-relation graph (SRG) module is designed to embed AP into the feature pyramid. Quantifiable anatomical features of standard views are extracted. Their priors are fitted to Gaussian distributions to construct probabilistic APs. The probe adjustment process of robotic ultrasound scanning is formalized as a reinforcement learning (RL) problem, with the RL state built from real-time anatomical features and the reward reflecting the AP matching. Experiments validate the efficacy of the framework. The SRG-YOLOv11s improves mAP50 by 11.3% and mIoU by 6.8% on the Special Case dataset, while the RL agent achieves a 92.5% success rate in simulation and 86.7% in phantom experiments.