Towards Robot-assisted Remote Echography: Preliminary Results on Region-specified Trajectory Generation and Compliant Control

This study presents preliminary findings on a region-based trajectory generation and compliant control framework designed for robot-assisted ultrasound (US) imaging applications. Specifically, an RGB-D camera is utilized to capture point clouds from multiple perspectives, facilitating the implementation of a trajectory generation framework that considers the designated region of interest for scanning. Furthermore, a closed-loop force-tracking strategy, integrated with a compliant controller, is developed to enhance the execution of robot-assisted scanning tasks. Preliminary experimental results demonstrate that the proposed framework effectively generates ultrasound scanning trajectories and enables efficient task execution, highlighting its potential for improving robotic US imaging and remote echography applications.