# Automatic Normal Positioning of Robotic Ultrasound Probe Based Only on Confidence Map Optimization and Force Measurement

> Research article (IEEE Robotics and Automation Letters, 2020) · cited 94× · AI/ML

**Wikidata**: [openalex:W3002801921](https://www.wikidata.org/wiki/openalex:W3002801921)  
**Source**: https://4ort.xyz/entity/automatic-normal-positioning-of-robotic-ultrasound-probe-based-only-on-confidence-map-optimization-and-force-measurement