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Collaborative Robotic Ultrasound Tissue Scanning for Surgical Resection Guidance in Neurosurgery

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arxiv 2301.08174 v1 pith:RYFSSNR6 submitted 2023-01-19 cs.RO cs.CV

Collaborative Robotic Ultrasound Tissue Scanning for Surgical Resection Guidance in Neurosurgery

Alistair Weld , Michael Dyck , Julian Klodmann , Giulio Anichini , Luke Dixon , Sophie Camp , Alin Albu-Sch\"affer , Stamatia Giannarou This is my paper
classification cs.RO cs.CV
keywords roboticscanningsurgicalresectiontissueguideplatformaccurate
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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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.

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