Optimizing In-Contact Force Planning in Robotic Ultrasound with Augmented Reality Visualization Techniques

The utilization of augmented reality (AR) in medical robotics offers significant advancements in enhancing procedural accuracy and patient safety. This paper investigates novel AR visualization techniques designed to depict in-contact force applied by a robotic ultrasound probe, aiming to optimize the control practitioners have over probe force for ultrasound procedures, thereby enhancing both image quality and patient comfort. We developed and evaluated four distinct AR visualization techniques through a comprehensive user study conducted in a clinical setting. The study assessed the efficiency and user experience associated with each technique. The findings revealed notable differences in user performance and preferences, indicating that specific visualizations significantly improve the precision of force application and could lead to better procedural outcomes. The results underscore the potential of AR visualizations to transform robotic-assisted medical procedures by improving the interface between clinicians and robotic systems. Moreover, these advancements foster a deeper trust and acceptance of robotic technologies among healthcare professionals and patients. This study not only highlights the immediate benefits of AR in enhancing robotic ultrasound but also sets the stage for further research into AR's expansive role in complex medical robotics scenarios.