# Capsule robot pose and mechanism state detection in ultrasound using attention-based hierarchical deep learning

> Research article (Scientific Reports, 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4311573447](https://www.wikidata.org/wiki/openalex:W4311573447)  
**Source**: https://4ort.xyz/entity/capsule-robot-pose-and-mechanism-state-detection-in-ultrasound-using-attention-based-hierarchical-deep-learning