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An AI based mobile robot for autonomous ultrasound in legal medicine
Citation Link: https://doi.org/10.15480/882.17683
Publikationstyp
Journal Article
Date Issued
2026-07-16
Sprache
English
Author(s)
Moebius, Dustin
TORE-DOI
Journal
Volume
14
Start Page
108851
End Page
108865
Citation
IEEE Access 14: 108851-108865 (2026)
Publisher DOI
Scopus ID
Publisher
IEEE
Comprehensive documentation of internal tissue structures plays an important role in legal medicine. Although ultrasound is widely used in medical diagnostics as a powerful modality for injury detection and documentation, its integration into legal medicine workflows remains limited. Potential reasons include physical strain and infection risks due to manual probe placement at different locations along the body. Robotic ultrasound systems have been proposed to address such challenges. However, current systems are typically restricted to specific target regions and are limited in mobility and autonomy, complicating their clinical integration and fully autonomous, task-level operation. We therefore propose a mobile robotic system for autonomous ultrasound scanning across the body. The system localizes the body, estimates internal target structures, moves to reach the target structure, and performs ultrasound scans. We evaluate the system in three stages. First, we assess the accuracy and robustness of target localization and scan path planning across different body types. Second, we conduct experiments with a body phantom to evaluate the repeatability of covering target structures. Third, we demonstrate the system in a real legal medicine setting. Our experiments demonstrate that the system can approach the body, define the scan path, and acquire reproducible ultrasound images of target structures. These results demonstrate the feasibility of fully autonomous ultrasound imaging across multiple anatomical regions using a mobile robotic system. Beyond legal medicine, the proposed mobile system offers perspectives for autonomous imaging in broader clinical settings such as telemedicine and infectious disease settings, supporting remote diagnostics while reducing infection risks.
Subjects
Autonomous robotic agents
autonomous systems
forensic imaging
legal medicine
medical imaging
medical robotics
robotic system and software
robotic ultrasound
ultrasound imaging
DDC Class
610: Medicine, Health
Publication version
publishedVersion
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An_AI-Based_Mobile_Robot_for_Autonomous_Ultrasound_in_Legal_Medicine.pdf
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