Complete source code for RUS-Sim will come out soon.
RUS-Sim is a simulation developed specifically for robotic ultrasound imaging applications. The ultrasound robot platform (shown in the picture below) was previously developed in Medical FUSIONLAB at Worcester Polytechnic Insitute, and was digital twinned into RUS-Sim.
RUS-Sim includes many autonomous functionalities that is available on the real robot system, such as automatic probe normal positioning and ultrasound image based probe servoing, etc. It features real-time ultrasound simulation based on preoperative patient CT data. This allows simulating ultrasound image acquisition, real-time image processing, image-based robot control, and many more.
Please consider citing our work if you find rus-sim useful.
@InProceedings{
author="Xihan Ma, Yernar Zhetpissov, Haichong K. Zhang",
title="RUS-Sim: A Robotic Ultrasound Simulator Modeling Patient-robot Interaction and Real-time Image Acquisition", IUS 2024, accepted
}