Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for teleoperated lung ultrasound. Leveraging biomechanically accurate 3D modelling, the system applies virtual constraints on the ultrasound probe pose and provides real-time visual feedback to assist in precise probe placement tasks. A twofold evaluation, one with 5 naive operators on a single volunteer and the second with a single experienced operator on 6 volunteers, compared our method with a standard teleoperation baseline. The results of the first one characterised the accuracy of the anatomical model and the improved perceived performance by the naive operators, while the second one focused on the efficiency of the system in improving probe placement and reducing procedure time compared to traditional teleoperation. The results demonstrate that the proposed framework enhances the physician's capabilities in executing remote lung ultrasound, reducing more than 20% of execution time on 4-point acquisitions, towards faster, more objective and repeatable exams.

翻译：尽管完全自主系统仍面临患者解剖结构变异性的挑战，遥操作系统在当前医疗环境中显得更为实用。本文提出了一种用于遥操作肺部超声的解剖感知控制框架。该系统利用生物力学精确的三维建模，对超声探头姿态施加虚拟约束，并提供实时视觉反馈以辅助精确的探头放置任务。通过双重评估——首次由5名新手操作者在单名志愿者身上进行，第二次由单名经验丰富的操作者在6名志愿者身上进行——将本方法与标准遥操作基线进行比较。首次评估结果验证了解剖模型的准确性以及新手操作者感知性能的提升，而第二次评估则侧重于系统在改进探头放置和缩短操作时间方面相较于传统遥操作的效率。结果表明，所提框架增强了医师执行远程肺部超声检查的能力，在四点采集任务中减少了超过20%的执行时间，有助于实现更快速、更客观且可重复的检查。