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Acoustic reflector-enabled forward-viewing ultrasound image-guided access

Journal of Medical Imaging 2025年第2期12卷 025002页

作者： Tang, Yichuan Rahaman, Ashiqur Gonzalez, Araceli B. Abouaf, Issac Malik, Aditya Sorokin, Igor Zhang, Haichong Worcester Polytechnic Institute Department of Robotics Engineering Worcester MA United States Worcester Polytechnic Institute Department of Biomedical Engineering Worcester MA United States University of Massachusetts Medical School Department of Urology Worcester MA United States

Purpose: Existing ultrasound (US) image-guided needle access methods applied in various surgical procedures (such as percutaneous nephrolithotomy) face the challenge of keeping the needle tip visible during the insertion process due to the unguaranteed alignment between the US image and needle. We propose a needle insertion mechanism with reflector-integrated US imaging, where the US image plane and the needle are mechanically aligned, and the needle is inserted in a forward- viewing style to provide more intuitive access. Approach: An acoustic reflector is used to redirect the US image plane while the needle goes through the slit in the middle of the acoustic reflector so that the needle path aligns with the US image plane. Both the bracket holding the needle and the acoustic reflector are rotatable to provide clinicians with the flexibility to search for the optimal needle insertion orientation. Effects of the slit in the reflector on the quality of post-reflection ultrasound images were evaluated. Needle tip visibility was evaluated in water and ex vivo beef tissue. Needle access accuracy was evaluated using point targets embedded in gelatin, and errors between the needle tip and point targets are estimated from X-ray images. Results: The slit in the reflector has limited effects on post-reflection image quality. The needle tip was visible in water and in ex vivo tissue, and its visibility was quantified using a signal-to-noise ratio. Needle access results showed an average insertion error of less than 3 mm. Conclusions: Our results demonstrate the clinical potential of the reflector-enabled forward-viewing US image-guided access mechanism. © 2025 Society of Photo-Optical Instrumentation Engineers (SPIE).

关键词： acoustic reflector image-guided intervention ultrasound imaging

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Efficient Recycling of Magnesium Alloys via Partial Distillation Using Gravity-Multiple Effect Thermal System (G-METS)

Efficient Recycling of Magnesium Alloys via Partial Distilla...

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Magnesium Technology Symposium, 2025, held as part of the TMS Annual Meeting and Exhibition, TMS 2025

作者： McArthur Sehar, Daniel Saito, Kenichi Telgerafchi, Armaghan Gallego, Maya Sridhar, Meera Iurkovskyi, Artem Powell, Adam Department of Materials Science and Engineering Program Worcester Polytechnic Institute 100 Institute Rd. WorcesterMA01609 United States Department of Mechanical Engineering Shibaura Institute of Technology Tokyo Japan Department of Mechanical Engineering Worcester Polytechnic Institute WorcesterMA United States

ISBN: (纸本)9783031810602

MagnesiumMagnesium’s remarkable stiffnessStiffness-to-weight and high strengthStrength-to-weight ratios could enable substantial vehicle lightweighting versus aluminum and steel. However, primary production is very energy- and emissions-intensive, and recyclingRecycling cannot cost-effectively produce magnesiumMagnesium of sufficient purity for die casting and other structural applications. Distillation can produce high-purity magnesiumMagnesium but is capital- and energy-intensive. Gravity-Driven Multiple Effect Thermal System (G-METS) is a continuous low-pressure magnesiumMagnesium distillation process used in primary production or recyclingRecycling in which heat re-use leads to just 0.5–1 kWh energy consumption per kgMg Mg product—which is 80–90% less energy than current Mg distillation. This paper presents new partial distillation experiments showing 99.96% product purity. An industrial distiller design can help to estimate capital costs. New modeling work describes temperature and pressure change in the vapor conduit, energy use and losses in the industrial distiller, and effects of evaporator flow vanes on the separation of volatile elements such as zinc. © The Minerals, Metals & Materials Society 2025.

关键词： Magnesium alloys

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Image-Based Roadmaps for Vision-Only Planning and Control of Robotic Manipulators

arXiv

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arXiv 2025年

作者： Chatterjee, Sreejani Gandhi, Abhinav Calli, Berk Chamzas, Constantinos Department of Robotics Engineering Worcester Polytechnic Institute WorcesterMA01609 United States

This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit robot model or proprioceptive sensing. At the core of our approach is the construction of a roadmap entirely in image space. To achieve this, we explicitly define sampling, nearest-neighbor selection, and collision checking based on visual features rather than geometric models. We first collect a set of image-space samples by moving the robot within its workspace, capturing keypoints along its body at different configurations. These samples serve as nodes in the roadmap, which we construct using either learned or predefined distance metrics. At runtime, the roadmap generates collision-free paths directly in image space, removing the need for a robot model or joint encoders. We validate our approach through an experimental study in which a robotic arm follows planned paths using an adaptive vision-based control scheme to avoid obstacles. The results show that paths generated with the learned-distance roadmap achieved 100% success in control convergence, whereas the predefined image-space distance roadmap enabled faster transient responses but had a lower success rate in convergence. © 2025, CC BY.

关键词： Transient analysis

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A-SEE2.0: Active-Sensing End-Effector for Robotic Ultrasound Systems with Dense Contact Surface Perception Enabled Probe Orientation Adjustment

arXiv

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arXiv 2025年

作者： Zhetpissov, Yernar Ma, Xihan Yang, Kehan Zhang, Haichong K. Department of Robotics Engineering Worcester Polytechnic Institute WorcesterMA01609 United States Department of Biomedical Engineering Worcester Polytechnic Institute WorcesterMA01609 United States

Conventional freehand ultrasound (US) imaging is highly dependent on the skill of the operator, often leading to inconsistent results and increased physical demand on sonographers. Robotic Ultrasound Systems (RUSS) aim to address these limitations by providing standardized and automated imaging solutions, especially in environments with limited access to skilled operators. This paper presents the development of a novel RUSS system that employs dual RGB-D depth cameras to maintain the US probe normal to the skin surface, a critical factor for optimal image quality. Our RUSS integrates RGB-D camera data with robotic control algorithms to maintain orthogonal probe alignment on uneven surfaces without preoperative data. Validation tests using a phantom model demonstrate that the system achieves robust normal positioning accuracy while delivering ultrasound images comparable to those obtained through manual scanning. ASEE2.0 demonstrates 2.47 ± 1.25 degrees error for flat surface normal-positioning and 12.19 ± 5.81 degrees normal estimation error on mannequin surface. This work highlights the potential of A-SEE2.0 to be used in clinical practice by testing its performance during in-vivo forearm ultrasound examinations. © 2025, CC BY.

关键词： Medical robotics

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Spectroscopic photoacoustic denoising framework using hybrid analytical and data-free learning method

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Photoacoustics 2025年 44卷 100729页

作者： Lin, Fangzhou Gao, Shang Tang, Yichuan Ma, Xihan Murakami, Ryo Zhang, Ziming Obayemi, John D. Soboyejo, Winston O. Zhang, Haichong K. Department of Robotics Engineering Worcester Polytechnic Institute 100 Institute Road WorcesterMA01609 United States Department of Electrical & Computer Engineering Worcester Polytechnic Institute 100 Institute Road WorcesterMA01609 United States 60 Prescott Street WorcesterMA01605 United States Department of Mechanical & Materials Engineering Worcester Polytechnic Institute 100 Institute Road WorcesterMA01609 United States Department of Computer Science Worcester Polytechnic Institute 100 Institute Road WorcesterMA01609 United States

Spectroscopic photoacoustic (sPA) imaging uses multiple wavelengths to differentiate and quantify chromophores based on their unique optical absorption spectra. This technique has been widely applied in areas such as vascular mapping, tumor detection, and therapeutic monitoring. However, PA imaging is highly susceptible to noise, leading to a low signal-to-noise ratio (SNR) and compromised image quality. Furthermore, low SNR in spectral data adversely affects spectral unmixing outcomes, hindering accurate quantitative PA imaging. Traditional denoising techniques like frame averaging, though effective in improving SNR, can be impractical for dynamic imaging scenarios due to reduced frame rates. Advanced methods, including learning-based approaches and analytical algorithms, have demonstrated promise but often require extensive training data and parameter tuning. Moreover, spectral information preservation is unclear, limiting their adaptability for clinical usage. Additionally, training data is not always accessible for learning-based methods. In this work, we propose a Spectroscopic Photoacoustic Denoising (SPADE) framework using hybrid analytical and data-free learning method. This framework integrates a data-free learning-based method with an efficient BM3D-based analytical approach while preserving spectral integrity, providing noise reduction, and ensuring that functional information is maintained. The SPADE framework was validated through simulation, phantom, in vivo, and ex vivo studies. These studies demonstrated that SPADE improved image SNR by over 15 dB in high noise cases and preserved spectral information (R > 0.8), outperforming conventional methods, especially in low SNR conditions. SPADE presents a promising solution for preserving the accuracy of quantitative PA imaging in clinical applications where noise reduction and spectral preservation are critical. © 2025 The Authors

关键词： Image denoising

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Intuitive Human-Drone Collaborative Navigation in Unknown Environments Through Mixed Reality

Intuitive Human-Drone Collaborative Navigation in Unknown En...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Sanket A. Salunkhe Pranav Nedunghat Luca Morando Nishanth Bobbili Guanrui Li Giuseppe Loianno New York University Tandon School of Engineering Brooklyn NY USA Worcester Polytechnic Institute Robotics Engineering Worcester MA USA

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

The widespread use of aerial robots in inspection, search and rescue, and monitoring has created a growing need for intuitive human-drone interfaces. These aim to streamline and enhance the user interaction and collaboration process during drone navigation, ultimately expediting mission success and accommodating users' inputs. In this paper, we present a novel human-drone mixed reality interface that aims to (a) increase human-drone spatial awareness by sharing relevant spatial information and representations between the human equipped with a Head Mounted Display (HMD) and the robot and (b) enable safer and intuitive human-drone interactive and collaborative navigation in unknown environments beyond the simple command and control or teleoperation paradigm. Our framework is validated through extensive user studies and experiments conducted in simulated post-disaster scenarios, with performance compared to traditional First-Person View (FPV) control systems. Multiple tests on several users underscore the advantages of the proposed solution, which offers intuitive and natural interaction with the system. This demonstrates the solution's ability to assist humans during a drone navigation mission, ensuring its safe and effective execution.

关键词： Navigation Collaboration Mixed reality Virtual reality Resists Inspection Planning Robots Monitoring Drones

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Simultaneous Estimation of Manipulation Skill and Hand Grasp Force from Forearm Ultrasound Images

arXiv

引用

arXiv 2025年

作者： Bimbraw, Keshav Nekkanti, Srikar Tiller, Daniel B. Deshmukh, Mihir Calli, Berk Howe, Robert D. Zhang, Haichong K. Robotics Engineering Worcester Polytechnic Institute WorcesterMA United States Data Science Worcester Polytechnic Institute WorcesterMA United States Biomedical Engineering Worcester Polytechnic Institute WorcesterMA United States Inova Medical Group AlexandriaVA United States Harvard Paulson School of Engineering and Applied Sciences CambridgeMA United States

Accurate estimation of human hand configuration and the forces they exert is critical for effective teleoperation and skill transfer in robotic manipulation. A deeper understanding of human interactions with objects can further enhance teleoperation performance. To address this need, researchers have explored methods to capture and translate human manipulation skills and applied forces to robotic systems. Among these, biosignal-based approaches, particularly those using forearm ultrasound data, have shown significant potential for estimating hand movements and finger forces. In this study, we present a method for simultaneously estimating manipulation skills and applied hand force using forearm ultrasound data. Data collected from seven participants were used to train deep learning models for classifying manipulation skills and estimating grasp force. Our models achieved an average classification accuracy of 94.87% ± 10.16% for manipulation skills and an average root mean square error (RMSE) of 0.51 ± 0.19 N for force estimation, as evaluated using five-fold cross-validation. These results highlight the effectiveness of forearm ultrasound in advancing human-machine interfacing and robotic teleoperation for complex manipulation tasks. This work enables new and effective possibilities for human-robot skill transfer and tele-manipulation, bridging the gap between human dexterity and robotic control. © 2025, CC BY.

关键词： Mean square error

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DualQuat-LOAM: LiDAR odometry and mapping parameterized on dual quaternions

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robotics and Autonomous Systems 2025年 191卷

作者： Velasco-Sánchez, Edison P. Recalde, Luis F. Li, Guanrui Candelas-Herias, Francisco A. Puente-Mendez, Santiago T. Torres-Medina, Fernando AUROVA Group of Automation Robotics and Computer Vision University of Alicante San Vicente del Raspeig S/N Alicante03690 Spain Worcester Polytechnic Institute Robotics Engineering Worcester01609 United States

This paper reports on a novel method for LiDAR odometry estimation, which completely parameterizes the system with dual quaternions. To accomplish this, the features derived from the point cloud, including edges, surfaces, and Stable Triangle Descriptor (STD), along with the optimization problem, are expressed in the dual quaternion set. This approach enables the direct combination of translation and orientation errors via dual quaternion operations, greatly enhancing pose estimation, as demonstrated in comparative experiments against other state-of-the-art methods. Our approach reduced drift error compared to other LiDAR-only-odometry methods, especially in scenarios with sharp curves and aggressive movements with large angular displacement. DualQuat-LOAM is benchmarked against several public datasets. In the KITTI dataset it has a translation and rotation error of 0.79% and 0.0039°/m, with an average run time of 53 ms. © 2025 The Author(s)

关键词： Parameterization

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ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads

arXiv

引用

arXiv 2025年

作者： Recalde, Luis F. Sarvaiya, Mrunal Loianno, Giuseppe Li, Guanrui Worcester Polytechnic Institute Robotics Engineering WorcesterMA01609 United States New York University New YorkNY11201 United States

Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However, their hybrid and underactuated dynamics pose significant control and perception challenges. Traditional approaches often assume a taut cable condition, limiting their effectiveness in real-world applications where slack-to-taut transitions occur due to disturbances. We introduce ES-HPC-MPC, a model predictive control framework that enforces exponential stability and perception-constrained control under hybrid dynamics. Our method leverages Exponentially Stabilizing Control Lyapunov Functions (ES-CLFs) to enforce stability during the tasks and Control Barrier Functions (CBFs) to maintain the payload within the onboard camera’s field of view (FoV). We validate our method through both simulation and real-world experiments, demonstrating stable trajectory tracking and reliable payload perception. We validate that our method maintains stability and satisfies perception constraints while tracking dynamically infeasible trajectories and when the system is subjected to hybrid mode transitions caused by unexpected disturbances. © 2025, CC BY-NC-ND.

关键词： Lyapunov functions

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Liver Necrotic Mapping Using Diffusing Illumination Photoacoustic Imaging

Liver Necrotic Mapping Using Diffusing Illumination Photoaco...

引用

Photons Plus Ultrasound: Imaging and Sensing 2025

作者： Gao, Shang Hua, Yanbo Bhagavatula, Sharath K. Liu, Guigen Jonas, Oliver Zhang, Haichong K. Department of Robotics Engineering Worcester Polytechnic Institute MA United States Department of Biomedical Engineering Worcester Polytechnic Institute MA United States Department of Computer Science Worcester Polytechnic Institute MA United States Department of Radiology Brigham and Women’s Hospital Harvard Medical School MA United States

ISBN: (纸本)9781510683860

Liver cancer treatments often face challenges, particularly when tumors are considered surgically unresectable. Percutaneous radiofrequency ablation (RFA) offers a minimally invasive alternative but can have higher recurrence rates due to incomplete ablations. Standard non-contrast ultrasound imaging cannot distinguish ablation-induced necrosis, limiting ability to monitor treatment and ensure complete tumor coverage during the ablation procedure. Photoacoustic (PA) imaging, which uses light to generate ultrasound signals, has shown promise in distinguishing between ablated and normal tissues through spectroscopic PA (sPA) imaging. However, conventional light delivery methods are unsuitable for minimally invasive procedures due to bulky fiber bundles. Optical fibers, though suitable for less invasive insertion, have limited illumination volume because of the confined light delivery only at the fiber tip. This study introduces a diffusing fiber approach for effective light delivery within the liver, enhancing the PA excitation area compared to conventional tip illumination. The diffusing fiber was tested in both phantom and ex vivo liver tissue studies. Results demonstrated that the diffusing fiber provided a wider PA excitation area and more homogeneous illumination. In an ex vivo porcine liver, the diffusing fiber accurately mapped the ablated region with minimal deviation from gross pathological measurements. Our findings suggest that this diffusing fiber approach could significantly improve the accuracy of PA imaging for liver ablation, potentially reducing recurrence rates by ensuring complete tumor ablation and minimizing complications by enabling real time monitoring. This innovation paves the way for more reliable and effective minimally invasive treatments for liver cancer. © 2025 SPIE.

关键词： Photoacoustic microscopy

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