Integrating a Real-time Surgical Robot Dynamic Simulator with 3D Slicer

Hongyi Fan, A. Munawar, M. Sahu, Russell Taylor, P. Kazanzides
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Abstract

Background Medical robotics, particularly image- guided robotic systems, have revolutionized the surgical field by improving precision and accuracy. 3D Slicer(1), an open-source platform, has become a crucial tool in this field as it allows for visualization, processing, and registration of 2D and 3D medical imaging data, making it an essential component in current research in robotic intervention(2) (3). However, there is a missing compo- nent in 3D Slicer - a native physics engine for simulating the interaction of a robot with the anatomy. AMBF(4), an open-source software, was designed to address this issue by simulating the kinematics, dynamics, and in- teraction of complex surgical robots. By integrating 3D Slicer and AMBF using Robot Operating System (ROS), we can empower researchers to utilize both the extensive capabilities of 3D Slicer for visualization, processing, and registration of medical imaging data, and the physics- based constraint of AMBF for simulating the interac- tion of a robot with the anatomy. By combining these two platforms, researchers will have a comprehensive tool to study and develop projects in medical robotics, ulti- mately contributing to the advancement of the field.
集成实时手术机器人动态模拟器与3D切片机
医学机器人,特别是图像引导机器人系统,通过提高精度和准确性,已经彻底改变了外科领域。3D切片器(1),一个开源平台,已成为该领域的关键工具,因为它允许可视化,处理和注册2D和3D医学成像数据,使其成为当前机器人干预研究的重要组成部分(2)(3)。然而,3D切片器中缺少一个组件-一个用于模拟机器人与解剖结构相互作用的本地物理引擎。AMBF(4)是一个开源软件,旨在通过模拟复杂手术机器人的运动学、动力学和相互作用来解决这一问题。通过使用机器人操作系统(ROS)集成3D切片机和AMBF,我们可以使研究人员能够利用3D切片机的广泛功能进行医学成像数据的可视化,处理和注册,以及AMBF的基于物理的约束来模拟机器人与解剖结构的交互。通过结合这两个平台,研究人员将有一个全面的工具来研究和开发医疗机器人项目,最终为该领域的进步做出贡献。
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