Preprint Open access
Dual-Rate Force-Image Control with Model-Based Orientation Limits for Robotic Ultrasound
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 excu …