Bulletin of the American Physical Society
2023 APS March Meeting
Volume 68, Number 3
Las Vegas, Nevada (March 5-10)
Virtual (March 20-22); Time Zone: Pacific Time
Session DD01: V: Poster Session I (8:30am-9:30 am, PST)
8:30 AM,
Monday, March 20, 2023
Abstract: DD01.00021 : Robot Learning Ultrasound Scanning using Neural Dynamic Movement Primitives*
Presenter:
Deepak Raina
(Purdue University)
Authors:
Deepak Raina
(Purdue University)
Richard M Voyles
(Purdue University)
Subir K Saha
(Indian Institute of Technology, Delhi)
In this work, we present Neural Dynamic Movement Primitives (N-DMP) for adapting the DMPs to RUS skill learning. DMPs are a commonly used skill representation model. However, they have not been explored beyond skill cloning. Moreover, they have been modeled using single sensory information. The proposed N-DMP allows learning from multi-modal, high-dimensional, and multiple demonstrations of sensory information, including kinematics (probe position and orientation), dynamics (probe forces), and visual (ultrasound images) data. This framework paves the way for encoding the domain expertise of expert sonographers in the form of probing maneuvers and ultrasound image analysis for inter-patient RUS.
*We acknowledge the support for this work from Science and Engineering Research Board (India) and Purdue University (USA) - Overseas Visiting Doctoral Fellowship (Award No. SB/S9/Z-03/2017-VIII); Prime Minster's Research Fellowship (PMRF), IIT Delhi (Ref: F.No.35-5/2017-TS.I:PMRF); and Daniel C. Lewis Professorship.
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