{"ID":2847047,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.00983","arxiv_id":"2511.00983","title":"Breaking the Latency Barrier: Synergistic Perception and Control for High-Frequency 3D Ultrasound Servoing","abstract":"Real-time tracking of dynamic targets amidst large-scale, high-frequency disturbances remains a critical unsolved challenge in Robotic Ultrasound Systems (RUSS), primarily due to the end-to-end latency of existing systems. This paper argues that breaking this latency barrier requires a fundamental shift towards the synergistic co-design of perception and control. We realize it in a novel framework with two tightly-coupled contributions: (1) a Decoupled Dual-Stream Perception Network that robustly estimates 3D translational state from 2D images at high frequency, and (2) a Single-Step Flow Policy that generates entire action sequences in one inference pass, bypassing the iterative bottleneck of conventional policies. This synergy enables a closed-loop control frequency exceeding 60Hz. On a dynamic phantom, our system not only tracks complex 3D trajectories with a mean error below 6.5mm but also demonstrates robust re-acquisition from over 170mm displacement. Furthermore, it can track targets at speeds of 102mm/s, achieving a terminal error below 1.7mm. Moreover, in-vivo experiments on a human volunteer validate the framework's effectiveness and robustness in a realistic clinical setting. Our work presents a RUSS holistically architected to unify high-bandwidth tracking with large-scale repositioning, a critical step towards robust autonomy in dynamic clinical environments.","short_abstract":"Real-time tracking of dynamic targets amidst large-scale, high-frequency disturbances remains a critical unsolved challenge in Robotic Ultrasound Systems (RUSS), primarily due to the end-to-end latency of existing systems. This paper argues that breaking this latency barrier requires a fundamental shift towards the syn...","url_abs":"https://arxiv.org/abs/2511.00983","url_pdf":"https://arxiv.org/pdf/2511.00983v1","authors":"[\"Yizhao Qian\",\"Yujie Zhu\",\"Jiayuan Luo\",\"Li Liu\",\"Yixuan Yuan\",\"Guochen Ning\",\"Hongen Liao\"]","published":"2025-11-02T15:53:31Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}