Towards Fully Autonomous Robotic Ultrasound-Guided Biopsy for Superficial Organs
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
This work presents a fully autonomous ultrasound-guided biopsy system for superficial organs. The system combines real-time U-Net++ image analysis, 3D reconstruction, slice-to-volume registration, force and pose control, and reinforcement learning on a UR5e robotic arm.
Recommended citation: C. Wang†, C. Qian†, Q. Gao, X. Ji, and Z. Sun. (2025). "Towards Fully Autonomous Robotic Ultrasound-Guided Biopsy for Superficial Organs." IEEE/RSJ IROS. † Equal contribution.