Michael Dyck;Alistair Weld;Julian Klodmann;Alexander Kirst;Luke Dixon;Giulio Anichini;Sophie Camp;Alin Albu-Schäffer;Stamatia Giannarou
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引用次数: 0
摘要
术中超声成像用于促进安全的脑肿瘤切除。然而,由于图像解读和物理扫描方面的挑战,这一工具尚未在神经外科中得到广泛应用。本文介绍了用于神经外科术中超声组织扫描的新型多功能机器人平台的组件和工作流程。机器人手臂上安装的 RGB-D 摄像头可通过 ArUco 标记自动定位目标,并使用 ImFusion Suite 软件解决方案将三维表面重建为三角形网格。通过阻抗控制引导 US 探头沿任意表面(以网格表示)进行协作 US 扫描,即自主、远程操作和动手引导数据采集。初步实验评估了概念工作流程和系统组件在定制软组织模型上探针着陆的适用性。有必要在未来的实验中进行进一步评估,以证明所展示平台的有效性。
Toward Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery
Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due to challenges with image interpretation and the physical scanning, this tool has yet to achieve widespread adoption in neurosurgery. In this paper, we introduce the components and workflow of a novel, versatile robotic platform for intraoperative ultrasound tissue scanning in neurosurgery. An RGB-D camera attached to the robotic arm allows for automatic object localisation with ArUco markers, and 3D surface reconstruction as a triangular mesh using the ImFusion Suite software solution. Impedance controlled guidance of the US probe along arbitrary surfaces, represented as a mesh, enables collaborative US scanning, i.e., autonomous, teleoperated and hands-on guided data acquisition. A preliminary experiment evaluates the suitability of the conceptual workflow and system components for probe landing on a custom-made soft-tissue phantom. Further assessment in future experiments will be necessary to prove the effectiveness of the presented platform.