Scanning While Imagining: A Scene-Graph World Model for Robotic Ultrasound Navigation
Ultrasound (US) acquisition depends on the operator's ability to interpret anatomy and anticipate how the view will change with probe motion. Many robotic US navigation methods select actions without explicitly predicting these anatomical changes. We propose SonoGraph-WM, an action- and goal-conditioned world model for anticipatory probe navigation. The model represents anatomy as scene graphs (SGs), capturing visible structures, their geometry, and spatial relationships without synthesizing US images. Given a history of SGs and probe poses, a unified Transformer jointly predicts future SGs and poses. A receding-horizon planner recursively imagines candidate trajectories, selects the shor...
| Authors | Xuesong Li, Shuai Chen, Feng Li et al. |
|---|---|
| Primary category | cs.RO |
| Published | 26 September 2026 |
| Last updated at source | 26 September 2026 |
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