论文链接：https://www.sciengine.com/SCIS/doi/10.1007/s11432-024-4288-3

B站链接：https://b23.tv/BiXUmu0

eFAST超声通过采集6个重点区域超声图像来评估心包、腹腔或盆腔有无液体，以及有无血胸或气胸，是急救处置中胸腹闭合伤情快筛的重要手段之一。为缓解急救超声医师短缺矛盾，降低超声医师工作负担，提升致死率高、隐匿性强、漏检率高的胸腹闭合伤的院前急救效率和质量，开展面向eFAST自主超声扫查机器人系统的研究。

团队研制了一套灵活的自主超声扫查机器人系统，该系统能够实现超声扫查靶器官的自主定位，并提供直观的交互力监测。为了获取高质量的超声图像并保障患者安全，在人机交互方面，提出了一种自适应调节的变阻抗力跟踪方法。该方法能够有效克服交互环境位置和刚度未知时的高精鲁棒力控问题，实现瞬态小超调、稳态高精度的力跟踪效果，并对外部力扰动和环境不确定性表现出强鲁棒性。此外，基于超声医生临床经验，制定了eFAST机器人自主超声扫查临床规范，首次实现了eFAST机器人自主超声多器官扫查，扫查成功率不低于96%。与现有超声机器人系统主要面向单一、简单病灶扫查相比，开发的超声机器人系统具有更高的临床应用潜力和价值，有望为超声扫查诊断技术的推广提供新的探索方向。

       Huo Zixuan, Wu Hang*, Xu Ruifang*, Yuan Mingxing, Zhang Xuebo, Toward eFAST autonomous robotic ultrasound imaging: system integrations and experimental studies, SCIENCE CHINA Information Sciences, 2025

Abstract

        This paper proposes and implements an autonomous robotic eFAST ultrasound scanning system(REUSS). The developed RUESS is typically aimed at mimicking the scanning skills of a professional sonographer whose workloads can be relieved significantly. To this end, multiple functional modules such as scanning guidelines of robotic eFAST, target positioning of scanning an organ, load calibration and compliant interaction force tracking strategy are integrated into the REUSS. Experiments on a 3D abdomen phantom and five human volunteers are conducted to verify the feasibility and effectiveness of the system. The results show that the designed force tracking strategy is superior in effectively suppressing transient overshoots and achieving an accurate steady-state force tracking, and the success rate of the image acquisition is over 96%. To the best of our knowledge, it is the first time that systematic experiments and evaluations of the robotic eFAST are completed by this study.