{"ID":2858106,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.08106","arxiv_id":"2510.08106","title":"Beyond hospital reach: Autonomous lightweight ultrasound robot for liver sonography","abstract":"Liver disease is a major global health burden. While ultrasound is the first-line diagnostic tool, liver sonography requires locating multiple non-continuous planes from positions where target structures are often not visible, for biometric assessment and lesion detection, requiring significant expertise. However, expert sonographers are severely scarce in resource-limited regions. Here, we develop an autonomous lightweight ultrasound robot comprising an AI agent that integrates multi-modal perception with memory attention for localization of unseen target structures, and a 588-gram 6-degrees-of-freedom cable-driven robot. By mounting on the abdomen, the system enhances robustness against motion. Our robot can autonomously acquire expert-level standard liver ultrasound planes and detect pathology in patients, including two from Xining, a 2261-meter-altitude city with limited medical resources. Our system performs effectively on rapid-motion individuals and in wilderness environments. This work represents the first demonstration of autonomous sonography across multiple challenging scenarios, potentially transforming access to expert-level diagnostics in underserved regions.","short_abstract":"Liver disease is a major global health burden. While ultrasound is the first-line diagnostic tool, liver sonography requires locating multiple non-continuous planes from positions where target structures are often not visible, for biometric assessment and lesion detection, requiring significant expertise. However, expe...","url_abs":"https://arxiv.org/abs/2510.08106","url_pdf":"https://arxiv.org/pdf/2510.08106v1","authors":"[\"Zihan Li\",\"Yixiao Xu\",\"Lei Zhang\",\"Taiyu Han\",\"Xinshan Yang\",\"Yingni Wang\",\"Mingxuan Liu\",\"Shenghai Xin\",\"Linxun Liu\",\"Hongen Liao\",\"Guochen Ning\"]","published":"2025-10-09T11:43:29Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}