Abstract
Ultrasound visual servoing is essential for autonomous robotic ultrasound, yet 6-DoF probe control from 2D B-mode images remains challenging due to limited and ambiguous out-of-plane motion cues. Existing methods typically rely on anatomical priors or handcrafted visual features, limiting their generalizability across imaging targets. Inspired by trackerless 3D ultrasound reconstruction, we propose Recon2Servo, a visual servoing framework that learns image-to-motion inference directly from B-mode images for 6-DoF probe control. A DINOv3 encoder with low-rank adaptation and a bidirectional relation module estimate the relative probe pose between current and target images to guide iterative closed-loop target-view alignment. The framework combines supervised relative-pose learning, reconstruction-guided closed-loop adaptation, and bounded residual pose correction to improve motion inference during servoing. Evaluations on a public dataset and an in-house dataset collected from 12 healthy volunteers using different ultrasound systems demonstrate its effectiveness in reconstructed-volume servoing. Additional real-robot demonstrations of target-view alignment and dynamic tracking on a human forearm are provided in the supplementary video: https://youtu.be/qwsOdI-GMYk.
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Publication details
- Journal
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- Open access
- Green open access
Cite this article
APA 7
Zhang, Y., Liu, P., Huang, D., Qian, Y., Chen, Z., Chu, X., Au, K. W. S., & Jiang, Z. (2026). Recon2Servo: Robotic Ultrasound Visual Servoing via Learned Image-to-Motion Inference. https://omanscience.com/en/articles/recon2servo-robotic-ultrasound-visual-servoing-via-learned-image-to-motion-inference
MLA 9
Zhang, Yameng, et al. "Recon2Servo: Robotic Ultrasound Visual Servoing via Learned Image-to-Motion Inference." https://omanscience.com/en/articles/recon2servo-robotic-ultrasound-visual-servoing-via-learned-image-to-motion-inference.
Chicago (author–date)
Zhang, Yameng, Pei Liu, Dianye Huang, Yizhao Qian, Zhongyu Chen, Xiangyu Chu, K. W. Samuel Au, and Zhongliang Jiang. 2026. "Recon2Servo: Robotic Ultrasound Visual Servoing via Learned Image-to-Motion Inference." https://omanscience.com/en/articles/recon2servo-robotic-ultrasound-visual-servoing-via-learned-image-to-motion-inference.
Harvard
Zhang, Y., Liu, P., Huang, D., Qian, Y., Chen, Z., Chu, X., Au, K. W. S. and Jiang, Z. (2026) 'Recon2Servo: Robotic Ultrasound Visual Servoing via Learned Image-to-Motion Inference', Available at: https://omanscience.com/en/articles/recon2servo-robotic-ultrasound-visual-servoing-via-learned-image-to-motion-inference.
Vancouver
Zhang Y, Liu P, Huang D, Qian Y, Chen Z, Chu X, et al. Recon2Servo: Robotic Ultrasound Visual Servoing via Learned Image-to-Motion Inference. https://omanscience.com/en/articles/recon2servo-robotic-ultrasound-visual-servoing-via-learned-image-to-motion-inference
IEEE
Y. Zhang, P. Liu, D. Huang, Y. Qian, Z. Chen, X. Chu, K. W. S. Au, and Z. Jiang, "Recon2Servo: Robotic Ultrasound Visual Servoing via Learned Image-to-Motion Inference," https://omanscience.com/en/articles/recon2servo-robotic-ultrasound-visual-servoing-via-learned-image-to-motion-inference.