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.

翻译：本文的目的是引入一个自动iUS组织扫描的机器人平台,以优化手术内诊断,改进机器人辅助操作过程中的外科剖析。指导具体的解剖机器人扫描,并生成机器人任务空间的表示,开发快速和准确的手术腔3D形态结构恢复技术。原型DLR MIRO手术机器人臂用于控制应用力和美国传感器的机内运动。拟议平台的一个关键应用是脑组织扫描,以引导肿瘤再切。