EmbodiedUS-FS: Fast Slow Intelligence for Ultrasound Robotics
Robotic ultrasound scanning in real clinical environments requires both high-level clinical workflow reasoning and low-level closed-loop execution. Physicians natural-language instructions often contain implicit anatomical targets, procedural logic, image-quality requirements, and safety constraints, while execution is affected by patient motion, contact variations, and target drift. We propose a fast and slow hierarchical embodied ultrasound system for safe and interpretable robotic ultrasound assistance. The Slow Brain performs intent parsing and stage-wise task planning with knowledge augmentation from an API and handbook corpus, and generates executable plans through task-graph constr...
| Authors | Fangzhuo Zhang, Xinyu Wang, Xiao Yang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 21 June 2026 |
| Last updated at source | 21 June 2026 |
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