Integrating 3D Slicer with a Dynamic Simulator for Situational Aware Robotic Interventions
CoRR(2024)
摘要
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.
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