During brain tumour resection, localising cancerous tissue and delineating healthy and pathological borders is challenging, even for experienced neurosurgeons and neuroradiologists. Intraoperative imaging is commonly employed for determining and updating surgical plans in the operating room. Ultrasound (US) has presented itself a suitable tool for this task, owing to its ease of integration into the operating room and surgical procedure. However, widespread establishment of this tool has been limited because of the difficulty of anatomy localisation and data interpretation. In this work, we present a robotic framework designed and tested on a soft-tissue-mimicking brain phantom, simulating intraoperative US (iUS) scanning during brain tumour surgery.

翻译：在脑肿瘤切除过程中，即使是经验丰富的神经外科医生和神经放射学家，也难以准确定位癌变组织并区分健康与病变边界。术中成像常用于在手术室中确定和更新手术计划。超声因其易于整合进手术室和手术流程，已被证明是完成该任务的合适工具。然而，由于解剖结构定位和数据解读的困难，该工具的广泛推广受到限制。本文提出了一种机器人框架，并在模拟脑肿瘤手术术中超声扫描的软组织仿体上进行了设计验证。