ForceU-VLA: 力覚を考慮した身体化超音波スキャンのための視覚・言語・行動モデル
ForceU-VLA: A Force-Aware Vision-Language-Action Model for Embodied Ultrasound Scanning
超音波スキャン中に力信号と超音波画像を融合し、スキャン段階に応じて適応的に特徴を調整する新しいVLAモデルを提案し、実世界の力覚対応データセットも構築した。
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著者: Xingzheng Wu, Cheng Zhang, Guihao Yan, Xifeng Hu, Zhi Liu, Qing Cai
分類: cs.RO, cs.CV
原文アブストラクト
Embodied intelligent ultrasound scanning enables the automation and standardization of the ultrasound examination process by integrating perception, decision-making, and execution capabilities. However, existing methods suffer from loosely coupled modeling between force and ultrasound modalities and lack awareness of scanning stages, which limits their ability to capture dynamic probe-tissue interactions. To address these issues, we propose ForceU-VLA, a force-aware Vision-Language-Action model for autonomous embodied ultrasound scanning, which leverages force signals and ultrasound image feedback throughout the scanning process to enable accurate and high-quality ultrasound acquisition. Firstly, we propose a Force-Ultrasound Synergistic Fusion Module (FUSFM) that synergistically fuses ultrasound visual and force-feedback information to provide stable, reliable guidance for probe motion. Secondly, a Stage-Adaptive Modulation Mechanism (SAMM) is proposed to accommodate the task requirements across different scanning stages by adaptively modulating multimodal features to enhance their representation quality. Additionally, we introduce ForceU-VLA-Data, a real-world, force-aware embodied ultrasound dataset that integrates visual, force, and action signals, including data from two organs across five representative clinical scanning views, and comprising 450 expert-collected trajectories with approximately 100,000 synchronized multimodal frames. Extensive experimental results demonstrate that ForceU-VLA significantly improves contact stability and probe pressure regulation in embodied ultrasound scanning, thereby effectively enhancing task execution quality and overall system reliability. The source code is available at https://github.com/VMVLab/ForceU-VLA.