Integrating 3D Slicer with a Dynamic Simulator for Situational Aware Robotic Interventions

Autor:	Sahu, Manish, Ishida, Hisashi, Connolly, Laura, Fan, Hongyi, Deguet, Anton, Kazanzides, Peter, Creighton, Francis X., Taylor, Russell H., Munawar, Adnan
Rok vydání:	2024
Předmět:	Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	Image-guided robotic interventions represent a transformative frontier in surgery, blending advanced imaging and robotics for improved precision and outcomes. This paper addresses the critical need for integrating open-source platforms to enhance situational awareness in image-guided robotic research. We present an open-source toolset that seamlessly combines a physics-based constraint formulation framework, AMBF, with a state-of-the-art imaging platform application, 3D Slicer. Our toolset facilitates the creation of highly customizable interactive digital twins, that incorporates processing and visualization of medical imaging, robot kinematics, and scene dynamics for real-time robot control. Through a feasibility study, we showcase real-time synchronization of a physical robotic interventional environment in both 3D Slicer and AMBF, highlighting low-latency updates and improved visualization. Comment: *These authors contributed equally
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2401.11715 Zobrazit plný text záznamu View this record from Arxiv