Abstract
Robotic ultrasound couples a high-rate contact-force loop with slower, delayed image feedback, so image-guided ultrasound probe rotation can perturb contact force before the resulting image response is observed. We derive a closed-form orientation-rate limit that bounds the modeled rotation-induced estimated-force excursion over a finite horizon while accounting for disturbance rejection by the fast force loop. The limit depends on local contact stiffness, force-loop gains, a conservative rotation-to-force gain bound, the excursion budget, and the prediction horizon. We implement this model in a dual-rate controller with timestamp-based delay reconstruction and joint-torque-based force estimation, and evaluate it on a curved gelatin phantom using paired controller comparisons and component ablations. Relative to unconstrained image guidance, the proposed rate-limited controller reduced first-second root-mean-square (RMS) estimated-force error by 0.40 N while increasing cue-convergence time by 0.94 s. A fixed rate cap near the analytically predicted ceiling produced no resolvable difference in force error and converged 0.32 s faster, indicating that the principal practical value of the model is the rate-design rule rather than online prediction. Delay reconstruction had no resolvable effect at the tested latency. A single-subject popliteal scan demonstrated feasibility, although the image cue was noise-limited on heterogeneous tissue.
Keywords
Publication details
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- Green open access
Cite this article
APA 7
Foster, T., Zhang, Q., Haque, A. B. M. T., & Nguyen, A. T. (2026). Dual-Rate Force-Image Control with Model-Based Orientation Limits for Robotic Ultrasound. https://omanscience.com/en/articles/dual-rate-force-image-control-with-model-based-orientation-limits-for-robotic-ultrasound
MLA 9
Foster, Tyler, et al. "Dual-Rate Force-Image Control with Model-Based Orientation Limits for Robotic Ultrasound." https://omanscience.com/en/articles/dual-rate-force-image-control-with-model-based-orientation-limits-for-robotic-ultrasound.
Chicago (author–date)
Foster, Tyler, Qiang Zhang, A B M Tahidul Haque, and Anh Thu Nguyen. 2026. "Dual-Rate Force-Image Control with Model-Based Orientation Limits for Robotic Ultrasound." https://omanscience.com/en/articles/dual-rate-force-image-control-with-model-based-orientation-limits-for-robotic-ultrasound.
Harvard
Foster, T., Zhang, Q., Haque, A. B. M. T. and Nguyen, A. T. (2026) 'Dual-Rate Force-Image Control with Model-Based Orientation Limits for Robotic Ultrasound', Available at: https://omanscience.com/en/articles/dual-rate-force-image-control-with-model-based-orientation-limits-for-robotic-ultrasound.
Vancouver
Foster T, Zhang Q, Haque ABMT, Nguyen AT. Dual-Rate Force-Image Control with Model-Based Orientation Limits for Robotic Ultrasound. https://omanscience.com/en/articles/dual-rate-force-image-control-with-model-based-orientation-limits-for-robotic-ultrasound
IEEE
T. Foster, Q. Zhang, A. B. M. T. Haque, and A. T. Nguyen, "Dual-Rate Force-Image Control with Model-Based Orientation Limits for Robotic Ultrasound," https://omanscience.com/en/articles/dual-rate-force-image-control-with-model-based-orientation-limits-for-robotic-ultrasound.