轻量自适应超声机器人实现偏远地区肝超声自动检测
Beyond hospital reach: Autonomous lightweight ultrasound robot for liver sonography
- AI+机械臂融合多模感知与记忆注意力，定位不可见目标结构
- 588克六自由度缆控机器人在高原2261米处成功获取专家级图像
- 适用于运动人群与野外环境，助力医疗资源匮乏地区诊断
肝脏疾病是全球重大健康负担。超声是首选诊断工具，但肝超声需从多个非连续切面获取目标结构，用于生物测量和病灶检测，依赖高技能操作者。然而，资源匮乏地区专家极度短缺。我们开发了一款自主轻量超声机器人，集成具备多模态感知与记忆注意力的AI代理，配合588克、六自由度的缆控机械臂。系统可稳定贴附腹部，增强对运动的鲁棒性。能自主采集专家级标准肝超声切面并检测病灶，包括青海西宁（海拔2261米）两名患者。系统在快速运动个体及野外环境中表现有效。本工作首次展示跨多种挑战场景的自主超声成像，有望改变欠发达地区的专家级诊疗可及性。
原文摘要 · Abstract (English)
Liver disease is a major global health burden. While ultrasound is the first-line diagnostic tool, liver sonography requires locating multiple non-continuous planes from positions where target structures are often not visible, for biometric assessment and lesion detection, requiring significant expertise. However, expert sonographers are severely scarce in resource-limited regions. Here, we develop an autonomous lightweight ultrasound robot comprising an AI agent that integrates multi-modal perception with memory attention for localization of unseen target structures, and a 588-gram 6-degrees-of-freedom cable-driven robot. By mounting on the abdomen, the system enhances robustness against motion. Our robot can autonomously acquire expert-level standard liver ultrasound planes and detect pathology in patients, including two from Xining, a 2261-meter-altitude city with limited medical resources. Our system performs effectively on rapid-motion individuals and in wilderness environments. This work represents the first demonstration of autonomous sonography across multiple challenging scenarios, potentially transforming access to expert-level diagnostics in underserved regions.
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