Development and Testing of a Digital Twin Platform for Robotic Ultrasound

Despite the rapid development of ultrasound robots in recent years and their gradual acquisition of cognitive reasoning and learning abilities through the integration of artificial intelligence technologies, the development and application of intelligent algorithms and robot configurations in real-world ultrasound robotics still face certain obstacles. To provide an effective solution to these issues, this paper constructs a high-fidelity ultrasound robot digital twin environment that integrates complex robot modeling, control, human-robot interaction, visual navigation, and virtual ultrasound image generation. To validate the consistency of this environment with real-world settings and assess its performance in in-silico master-slave control, navigation, and locomotion, relevant experiments were designed and conducted. The experimental results demonstrate that this digital twin environment performs well in replicating most functions of real-world ultrasound robot systems. It can serve as a research and development verification platform for robot configurations and intelligent algorithms in the ultrasound robotics field, potentially saving significant economic and time costs before practical applications.