Laura Connolly;Aravind S. Kumar;Kapi Ketan Mehta;Lidia Al-Zogbi;Peter Kazanzides;Parvin Mousavi;Gabor Fichtinger;Axel Krieger;Junichi Tokuda;Russell H. Taylor;Simon Leonard;Anton Deguet
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引用次数: 0
Abstract
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for medical robotics research. The first release of SlicerROS2 demonstrated the feasibility of using the C++ API from 3D Slicer and ROS to load and visualize robots in real time. Since this initial release, we’ve rewritten and redesigned the module to offer greater modularity, access to low-level features, access to 3D Slicer’s Python API, and better data transfer protocols. In this paper, we introduce this new design as well as four applications that leverage the core functionalities of SlicerROS2 in realistic image-guided robotics scenarios.
图像引导的机器人干预涉及将医学成像与机器人技术相结合。SlicerROS2 是将 3D Slicer 和机器人操作系统 (ROS) 结合在一起的软件模块,旨在为医疗机器人研究提供标准的集成方法。SlicerROS2 的第一个版本展示了使用 3D Slicer 和 ROS 的 C++ API 实时加载和可视化机器人的可行性。自首次发布以来,我们对该模块进行了重写和重新设计,以提供更强的模块性、访问底层功能、访问 3D Slicer 的 Python API 以及更好的数据传输协议。在本文中,我们将介绍这一新设计以及在现实图像引导机器人场景中利用 SlicerROS2 核心功能的四个应用。