{"id":"https://openalex.org/W4416749835","doi":"https://doi.org/10.1109/iros60139.2025.11246769","title":"UltraDP: Generalizable Carotid Ultrasound Scanning with Force-Aware Diffusion Policy","display_name":"UltraDP: Generalizable Carotid Ultrasound Scanning with Force-Aware Diffusion Policy","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749835","doi":"https://doi.org/10.1109/iros60139.2025.11246769"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Ruoqu Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ruoqu Chen","raw_affiliation_strings":["Tsinghua University,Department of Automation"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019990282","display_name":"Xiangjie Yan","orcid":"https://orcid.org/0000-0001-9713-5099"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangjie Yan","raw_affiliation_strings":["Tsinghua University,Department of Automation"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063536734","display_name":"Kangchen Lv","orcid":"https://orcid.org/0000-0001-5748-7372"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kangchen Lv","raw_affiliation_strings":["Tsinghua University,Department of Automation"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013240918","display_name":"Gao Huang","orcid":"https://orcid.org/0000-0002-7251-0988"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gao Huang","raw_affiliation_strings":["Tsinghua University,Department of Automation"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056539891","display_name":"Zheng Li","orcid":"https://orcid.org/0000-0001-5812-0492"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zheng Li","raw_affiliation_strings":["Li Ka Shing Institute of Health Science and Multi-Scale Medical Robotics Center, The Chinese University of Hong Kong,Chow Yuk Ho Technology Centre for Innovative Medicine,Department of Surgery,Hong Kong"],"affiliations":[{"raw_affiliation_string":"Li Ka Shing Institute of Health Science and Multi-Scale Medical Robotics Center, The Chinese University of Hong Kong,Chow Yuk Ho Technology Centre for Innovative Medicine,Department of Surgery,Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100331052","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-4013-5773"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Tsinghua University,Department of Automation"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.6113,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.7384287,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"20074","last_page":"20080"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.7983999848365784,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.7983999848365784,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.03590000048279762,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.034699998795986176,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5884000062942505},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5695000290870667},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.49799999594688416},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.41589999198913574},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4122999906539917},{"id":"https://openalex.org/keywords/carotid-arteries","display_name":"Carotid arteries","score":0.4059000015258789},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.36910000443458557},{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.35359999537467957}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6291000247001648},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.609499990940094},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5884000062942505},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5695000290870667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5504999756813049},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.49799999594688416},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.41589999198913574},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4122999906539917},{"id":"https://openalex.org/C2987047532","wikidata":"https://www.wikidata.org/wiki/Q214275","display_name":"Carotid arteries","level":2,"score":0.4059000015258789},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.36910000443458557},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.35359999537467957},{"id":"https://openalex.org/C3019493240","wikidata":"https://www.wikidata.org/wiki/Q94701573","display_name":"3d scanning","level":2,"score":0.3492000102996826},{"id":"https://openalex.org/C2986892559","wikidata":"https://www.wikidata.org/wiki/Q234904","display_name":"Ultrasound imaging","level":3,"score":0.3393000066280365},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.33180001378059387},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.320499986410141},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.2928999960422516},{"id":"https://openalex.org/C529618451","wikidata":"https://www.wikidata.org/wiki/Q234904","display_name":"Ultrasonography","level":2,"score":0.2896000146865845},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.28450000286102295},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.25760000944137573},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.2563999891281128},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.25450000166893005},{"id":"https://openalex.org/C2989478337","wikidata":"https://www.wikidata.org/wiki/Q234904","display_name":"Ultrasonic imaging","level":3,"score":0.25279998779296875}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2173082292","https://openalex.org/W2793224505","https://openalex.org/W2949924544","https://openalex.org/W3135545534","https://openalex.org/W3211330821","https://openalex.org/W4221166649","https://openalex.org/W4285102261","https://openalex.org/W4390188232","https://openalex.org/W4402354045","https://openalex.org/W4402626678","https://openalex.org/W4403071628","https://openalex.org/W4403139323","https://openalex.org/W4403337227","https://openalex.org/W4403534804","https://openalex.org/W4405785297","https://openalex.org/W4405785794","https://openalex.org/W4407247107","https://openalex.org/W4413917780","https://openalex.org/W4413925274","https://openalex.org/W4413925798","https://openalex.org/W4415185455"],"related_works":[],"abstract_inverted_index":{"Ultrasound":[0],"scanning":[1,29,79,141,173],"is":[2,121],"a":[3,49,85,117,135,167],"critical":[4],"imaging":[5],"technique":[6],"for":[7,23,72,139],"real-time,":[8],"non-invasive":[9],"diagnostics.":[10],"However,":[11],"variations":[12],"in":[13,76,100,171],"patient":[14],"anatomy":[15],"and":[16,38,63,66,107,113,160],"complex":[17],"human-in-the-loop":[18],"interactions":[19],"pose":[20],"significant":[21],"challenges":[22],"autonomous":[24,77],"robotic":[25],"scanning.":[26],"Existing":[27],"ultrasound":[28,78,101],"robots":[30],"are":[31,70],"commonly":[32],"limited":[33],"to":[34,89,93,123,127],"relatively":[35],"low":[36],"generalization":[37,163],"inefficient":[39],"data":[40],"utilization.":[41],"To":[42,103],"overcome":[43],"these":[44],"limitations,":[45],"we":[46,132],"present":[47],"UltraDP,":[48],"Diffusion-Policy-based":[50],"method":[51],"that":[52,69,96],"receives":[53],"multi-sensory":[54],"inputs":[55],"(ultrasound":[56],"images,":[57,60],"wrist":[58],"camera":[59],"contact":[61,106],"wrench,":[62],"probe":[64],"pose)":[65],"generates":[67],"actions":[68,95],"fit":[71],"multi-modal":[73],"action":[74],"distributions":[75],"of":[80,152],"carotid":[81,140],"artery.":[82],"We":[83],"propose":[84],"specialized":[86],"guidance":[87,158],"module":[88,159],"enable":[90],"the":[91,98,111,114,125],"policy":[92],"output":[94],"center":[97],"artery":[99],"images.":[102],"ensure":[104],"stable":[105],"safe":[108],"interaction":[109],"between":[110],"robot":[112,126],"human":[115],"subject,":[116],"hybrid":[118],"force-impedance":[119],"controller":[120],"utilized":[122],"drive":[124],"track":[128],"such":[129],"trajectories.":[130],"Also,":[131],"have":[133],"built":[134],"large-scale":[136],"training":[137],"dataset":[138],"comprising":[142],"210":[143],"scans":[144],"with":[145],"460k":[146],"sample":[147],"pairs":[148],"from":[149],"21":[150],"volunteers":[151],"both":[153],"genders.":[154],"By":[155],"exploring":[156],"our":[157],"DP\u2019s":[161],"strong":[162],"ability,":[164],"UltraDP":[165],"achieves":[166],"95%":[168],"success":[169],"rate":[170],"transverse":[172],"on":[174],"previously":[175],"unseen":[176],"subjects,":[177],"demonstrating":[178],"its":[179],"effectiveness.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-11-28T00:00:00"}