Enhanced diagnostic imaging for rheumatoid arthritis in the finger via robotic arc ultrasound scanning and 3D reconstruction

Ultrasound is a key modality for detecting early inflammatory changes in rheumatoid arthritis, particularly in finger joints. While robotic ultrasound systems have aimed to standardize diagnosis, most rely on linear scanning paths. Here, we present a robotic arc-scanning approach coupled with 3D reconstruction to improve imaging performance by consistent perpendicular orientation to the finger’s curved surface throughout the scan. Quantitative phantom studies demonstrated enhanced boundary sharpness, while patient scans showed improved contrast and uniformity for bone, skin, and soft tissue structure. These results establish arc scanning as a promising technique for high-fidelity clinical imaging of small joints.