MEIRUS System Automated Scanning Cases

The dataset contains raw experimental data acquired during five autonomous robotic ultrasound scanning tasks, covering seven organs (carotid, thyroid, liver, gallbladder, pancreas, spleen, kidney). For each task, we provide synchronized ultrasound videos with real-time organ segmentation overlays, extracted standard-plane images, robot servo parameters (joint angles, end‑effector poses, admittance gains), six‑axis force/torque measurements, online stiffness estimates, adaptive control adjustments, Bayesian optimization search history with image quality scores, and organ‑specific intermediate files (e.g., liver rib crossing/gap detection, vessel/lesion positions). These data enable validation of the proposed multi‑layer control framework and support research in robotic perception, learning, and medical image analysis.