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. 2021 Feb 22;2(1):55–71. doi: 10.1007/s43154-020-00037-y

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© The Author(s) 2021

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 3 — Overview of different robotic ultrasound systems for autonomous image acquisition. a A robotic ultrasound system autonomously scanning along a lumbar phantom (left) and the reconstructed ultrasound volume from 2D images (right) (copyright © [2019] IEEE. Reprinted with permission from [42]). b System setup including transformations (arrows) between robot, camera, ultrasound probe, and patient (left). MRI atlas displaying the generic trajectory (dotted red line) to image the aorta (right) (copyright © [2016] IEEE. Reprinted with permission from [44•]). c Robotic ultrasound system and phantom (left) with the target (red) in the ultrasound image (top right). A confidence map is calculated, and the current and desired configuration (red and green line, respectively) are calculated (bottom right) (copyright © [2016] IEEE. Reprinted with permission from [49])