Autonomous Path Planning for Intercostal Robotic Ultrasound Imaging Using Reinforcement Learning

arXiv:2404.09927v1 Announce Type: cross
Abstract: Ultrasound (US) has been widely used in daily clinical practice for screening internal organs and guiding interventions. However, due to the acoustic shadow cast by the subcutaneous rib cage, the US examination for thoracic application is still challenging. To fully cover and reconstruct the region of interest in US for diagnosis, an intercostal scanning path is necessary. To tackle this challenge, we present a reinforcement learning (RL) approach for planning scanning paths between ribs to …

abstract application arxiv autonomous clinical cs.lg cs.ro daily however imaging path planning practice reinforcement reinforcement learning robotic screening shadow type