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,即使对于经验丰富的神经外科医生和神经放射科医生来说,定位癌组织和划分健康和病理边界也是具有挑战性的。术中成像常被用于在手术室中确定和更新手术计划。超声(US)是一种容易集成到手术室和手术流程中的适合工具。然而,这种工具并没有被广泛推广,这是由于解剖部位定位和数据解释的困难。在这项工作中,我们提出了一个机器人框架,并在模拟脑肿瘤手术中进行了软组织仿真。用于脑切除术中的超声扫描(iUS)。