A Primary Study: Automatic Ultrasound Acquisition System Based on Visual Servo

For the automatic ultrasound (US) acquisition system, the current work mainly uses the image-based visual servo(IBVS) strategy, making the specially designed visual features unable to adapt to all organs. This work proposes a position-based visual servo (PBVS) strategy to control the US probe to collect high-quality US images. Firstly, we use the force control strategy to make up for the positioning error of the initial acoustic window to ensure good contact between the US probe and the patient and the patient's safety. Then, This work set a spiral path for each region of interest to traverse the region of interest. In addition, because the spiral path is a fixed path planned after the initial acoustic window is calculated, the occlusion problem can be effectively solved.