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Collaborative Robotic Ultrasound Tissue Scanning for Surgical Resection Guidance in Neurosurgery

2023-01-19 17:05:07
Alistair Weld, Michael Dyck, Julian Klodmann, Giulio Anichini, Luke Dixon, Sophie Camp, Alin Albu-Schäffer, Stamatia Giannarou
arXiv_CV
       
Abstract

The aim of this paper is to introduce a robotic platform for autonomous iUS tissue scanning to optimise intraoperative diagnosis and improve surgical resection during robot-assisted operations. To guide anatomy specific robotic scanning and generate a representation of the robot task space, fast and accurate techniques for the recovery of 3D morphological structures of the surgical cavity are developed. The prototypic DLR MIRO surgical robotic arm is used to control the applied force and the in-plane motion of the US transducer. A key application of the proposed platform is the scanning of brain tissue to guide tumour resection.

Abstract (translated)

URL

https://arxiv.org/abs/2301.08174

PDF

https://arxiv.org/pdf/2301.08174.pdf

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