{"id":"https://openalex.org/W7155396280","doi":"https://doi.org/10.48550/arxiv.2604.20347","title":"A Vision-Language-Action Model for Adaptive Ultrasound-Guided Needle Insertion and Needle Tracking","display_name":"A Vision-Language-Action Model for Adaptive Ultrasound-Guided Needle Insertion and Needle Tracking","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7155396280","doi":"https://doi.org/10.48550/arxiv.2604.20347"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.20347","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20347","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.20347","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134448800","display_name":"Yuelin Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yuelin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056085196","display_name":"Qingpeng Ding","orcid":"https://orcid.org/0000-0003-1940-8332"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Qingpeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134372440","display_name":"Longxiang Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Longxiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134413220","display_name":"Chengyu Fang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Chengyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134415106","display_name":"Shing Shin Cheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng, Shing Shin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.6729000210762024,"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":0.6729000210762024,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.13420000672340393,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.05460000038146973,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6428999900817871},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6304000020027161},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5521000027656555},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.48829999566078186},{"id":"https://openalex.org/keywords/bittorrent-tracker","display_name":"BitTorrent tracker","score":0.41589999198913574},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.36730000376701355}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6428999900817871},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6345000267028809},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6319000124931335},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6304000020027161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5968000292778015},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5521000027656555},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.48829999566078186},{"id":"https://openalex.org/C57501372","wikidata":"https://www.wikidata.org/wiki/Q2021268","display_name":"BitTorrent tracker","level":3,"score":0.41589999198913574},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.36730000376701355},{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.31839999556541443},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.20347","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20347","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.20347","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20347","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.4598122239112854}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Ultrasound":[0],"(US)-guided":[1],"needle":[2,18,27,59,76,79,93,144,159,174],"insertion":[3,60,80,88,160,177,194],"is":[4,52,110,137],"a":[5,48,64,72,104,133],"critical":[6],"yet":[7],"challenging":[8,43],"procedure":[9,199],"due":[10],"to":[11,75],"dynamic":[12],"imaging":[13],"conditions":[14],"and":[15,56,61,78,95,101,115,150,168,176,186,197],"difficulties":[16],"in":[17,42],"visualization.":[19],"Many":[20],"methods":[21],"have":[22],"been":[23],"proposed":[24,53],"for":[25,54,130,139,157,165,204],"automated":[26,57],"insertion,":[28],"but":[29],"they":[30],"often":[31],"rely":[32],"on":[33,63,90,172],"hand-crafted":[34],"pipelines":[35],"with":[36],"modular":[37],"controllers,":[38],"whose":[39],"performance":[40],"degrades":[41],"cases.":[44],"In":[45],"this":[46],"paper,":[47],"Vision-Language-Action":[49],"(VLA)":[50],"model":[51],"adaptive":[55,85,158],"US-guided":[58],"tracking":[62,77,108,131,175,191],"robotic":[65],"ultrasound":[66],"(RUS)":[67],"system.":[68],"This":[69],"framework":[70],"provides":[71],"unified":[73],"approach":[74],"control,":[81,161],"enabling":[82],"real-time,":[83],"dynamically":[84],"adjustment":[86],"of":[87],"based":[89],"the":[91,120,126],"obtained":[92],"position":[94],"environment":[96],"awareness.":[97],"To":[98,124],"achieve":[99],"real-time":[100],"end-to-end":[102],"tracking,":[103,145],"Cross-Depth":[105],"Fusion":[106],"(CDF)":[107],"head":[109],"proposed,":[111],"integrating":[112],"shallow":[113],"positional":[114],"deep":[116],"semantic":[117],"features":[118],"from":[119],"large-scale":[121],"vision":[122,128],"backbone.":[123],"adapt":[125],"pretrained":[127],"backbone":[129],"tasks,":[132],"Tracking-Conditioning":[134],"(TraCon)":[135],"register":[136],"introduced":[138],"parameter-efficient":[140],"feature":[141],"conditioning.":[142],"After":[143],"an":[146,151],"uncertainty-aware":[147],"control":[148],"policy":[149],"asynchronous":[152],"VLA":[153],"pipeline":[154],"are":[155],"presented":[156],"ensuring":[162],"timely":[163],"decision-making":[164],"improved":[166,193],"safety":[167],"outcomes.":[169],"Extensive":[170],"experiments":[171],"both":[173],"show":[178],"that":[179],"our":[180],"method":[181],"consistently":[182],"outperforms":[183],"state-of-the-art":[184],"trackers":[185],"manual":[187],"operation,":[188],"achieving":[189],"higher":[190],"accuracy,":[192],"success":[195],"rates,":[196],"reduced":[198],"time,":[200],"highlighting":[201],"promising":[202],"directions":[203],"RUS-based":[205],"intelligent":[206],"intervention.":[207]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-24T00:00:00"}
