# From Freehand Demonstrations to Autonomous Robotic Ultrasound: An Anatomy-Anchored Imitation Learning Framework

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/rjzeosn88ulsf0yh0pcy0da1f
- Original: https://arxiv.org/abs/2610.32525

## Summary

The study proposes an anatomy-anchored imitation learning framework that combines anatomy-guided probe placement with learned ultrasound navigation. Across 16 unseen participants, task success rates for standard-view acquisition of the kidney, gallbladder, and liver and for radial artery scanning were 96%, 94%, 88%, and 94%, respectively.