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.

翻译：图像引导的机器人介入操作代表了外科手术领域的一个变革性前沿，它将先进的成像与机器人技术相结合，以提升手术精度和改善治疗效果。本文针对整合开源平台以增强图像引导机器人研究中的情境感知能力这一关键需求，提出了一套开源工具集，该工具集将基于物理的约束框架AMBF与先进的成像平台应用3D Slicer无缝结合。我们的工具集支持创建高度可定制的交互式数字孪生，可整合医学成像处理与可视化、机器人运动学及场景动力学，以实现实时机器人控制。通过一项可行性研究，我们在3D Slicer和AMBF中同时展示了物理机器人介入环境的实时同步，凸显了低延迟更新与增强的可视化效果。