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DTSTART:20070311T020000
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SEQUENCE:1
X-APPLE-TRAVEL-ADVISORY-BEHAVIOR:AUTOMATIC
UID:236321
DTSTAMP:20260511T154357Z
DTSTART;TZID=America/New_York:20260519T150000
DTEND;TZID=America/New_York:20260519T160000
URL;TYPE=URI:https://www.wpi.edu/news/calendar/events/robotics-engineering-
 phd-speaking-and-writing-qualifiers-presentation-yernar-zhetpissov
SUMMARY:Robotics Engineering PhD Speaking and Writing Qualifiers Presentati
 on - Yernar Zhetpissov
DESCRIPTION:Active Sensing for Autonomous Robotic Ultrasound: Probe Orienta
 tion Control Using Dense Surface Perception\n\n\nImage\n  \n\n\n\nAbstract
 : Ultrasound imaging quality strongly depends on probe orientation and ope
 rator expertise, limiting consistency across clinical settings. This work 
 presents an active-sensing robotic ultrasound system that autonomously mai
 ntains optimal probe alignment using dense surface perception. The propose
 d end-effector, A-SEE2.0, integrates dual RGB-D cameras to estimate local 
 surface geometry and enforce normal probe contact without relying on preop
 erative models. By tightly coupling perception with real-time robot contro
 l, the system adapts to complex, uneven anatomies. Experimental validation
  on phantom and mannequin surfaces demonstrates robust normal alignment, w
 hile in-vivo forearm studies show image quality comparable to expert manua
 l scanning. This approach highlights the potential of perception-driven co
 ntrol for scalable and operator-independent robotic ultrasound.\nAdvisor: 
 Professor Haichong ZhangCommittee: Professor Giovanni Pittiglio, Professor
  Connor McCann\n
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