A Framework for 3D Ultrasound Reconstruction Using Robotic Ultrasound Diagnostic System

This study presents a novel robotic framework for reconstructing 3D models of organs and lesions from sequential 2D ultrasound images using the Robotic Ultrasound Diagnostic System (RUDS). The system integrates four robotic components: the Organ Tracking Robot (OTR) for multi-angle probe control, the Phantom Posture Robot (PPR) for adaptive probe positioning, the Robotic Bed (RB) for patient alignment, and the Robotic Supporting Arm (RSA) for contact stabilization. Leveraging precise control over probe rotation and contact dynamics, the OTR captures sequential 2D slices and reconstructs detailed 3D models of the kidney and associated lesions. By dynamically adjusting scanning parameters and analyzing spatial relationships, the system enhances modeling accuracy, supporting preoperative High-Intensity Focused Ultrasound (HIFU) treatment. Experimental results demonstrate that the RUDS framework can effectively balance flexibility and precision, offering new potential for clinical ultrasound-guided robotic interventions.