Preprint
Sep 2026
Contact-Aware Impedance Controller for Robot-Assisted Ultrasound Imaging
Safe robot-assisted ultrasound imaging requires a reliable controller able to detect and localize probe--tissue interaction. In this paper, we present a B-mode ultrasound image-based contact perception method and a contact-aware impedance controller for robotic ultrasound imaging. The proposed method detects acoustic c...
M. Arefin, M. E. Tiryaki
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