In ultrasound imaging, propagation of an acoustic wavefront through heterogeneous media causes phase aberrations that degrade the coherence of the reflected wavefront, leading to reduced image resolution and contrast. Adaptive imaging techniques attempt to correct this phase aberration and restore coherence, leading to improved focusing of the image. We propose an autofocusing paradigm for aberration correction in ultrasound imaging by fitting an acoustic velocity field to pressure measurements, via optimization of the common midpoint phase error (CMPE), using a straight-ray wave propagation model for beamforming in diffusely scattering media. We show that CMPE induced by heterogeneous acoustic velocity is a robust measure of phase aberration that can be used for acoustic autofocusing. CMPE is optimized iteratively using a differentiable beamforming approach to simultaneously improve the image focus while estimating the acoustic velocity field of the interrogated medium. The approach relies solely on wavefield measurements using a straight-ray integral solution of the two-way time-of-flight without explicit numerical time-stepping models of wave propagation. We demonstrate method performance through in silico simulations, in vitro phantom measurements, and in vivo mammalian models, showing practical applications in distributed aberration quantification, correction, and velocity estimation for medical ultrasound autofocusing.

Ultrasound (US) imaging is widely used in diagnosing and staging abdominal diseases due to its lack of non-ionizing radiation and prevalent availability. However, significant inter-operator variability and inconsistent image acquisition hinder the widespread adoption of extensive screening programs. Robotic ultrasound systems have emerged as a promising solution, offering standardized acquisition protocols and the possibility of automated acquisition. Additionally, these systems enable access to 3D data via robotic tracking, enhancing volumetric reconstruction for improved ultrasound interpretation and precise disease diagnosis.However, the interpretability of 3D US reconstruction of abdominal images can be affected by the patient’s breathing motion. This study introduces a method to compensate for breathing motion in 3D US compounding by leveraging implicit neural representations. Our approach employs a robotic ultrasound system for automated screenings. To demonstrate the method’s effectiveness, we evaluate our proposed method for the diagnosis and monitoring of abdominal aorta aneurysms as a representative use case.Our experiments demonstrate that our proposed pipeline facilitates robust automated robotic acquisition, mitigating artifacts from breathing motion, and yields smoother 3D reconstructions for enhanced screening and medical diagnosis.

In this paper we introduce the first reinforcement learning (RL) based robotic navigation method which utilizes ultrasound (US) images as an input. Our approach combines state-of-the-art RL techniques, specifically deep Q-networks (DQN) with memory buffers and a binary classifier for deciding when to terminate the task.Our method is trained and evaluated on an in-house collected data-set of 34 volunteers and when compared to pure RL and supervised learning (SL) techniques, it performs substantially better, which highlights the suitability of RL navigation for US-guided procedures. When testing our proposed model, we obtained a 82.91% chance of navigating correctly to the sacrum from 165 different starting positions on 5 different unseen simulated environments.