Connolly Laura, Kumar Aravind S, Mehta Kapi Ketan, Al-Zogbi Lidia, Kazanzides Peter, Mousavi Parvin, Fichtinger Gabor, Krieger Axel, Tokuda Junichi, Taylor Russell H, Leonard Simon, Deguet Anton
Queen's University, Kingston, ON, Canada.
Johns Hopkins University, Baltimore, MD, United States.
IEEE Trans Med Robot Bionics. 2024 Nov;6(4):1334-1344. doi: 10.1109/tmrb.2024.3464683. Epub 2024 Sep 20.
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for medical robotics research. The first release of SlicerROS2 demonstrated the feasibility of using the C++ API from 3D Slicer and ROS to load and visualize robots in real time. Since this initial release, we've rewritten and redesigned the module to offer greater modularity, access to low-level features, access to 3D Slicer's Python API, and better data transfer protocols. In this paper, we introduce this new design as well as four applications that leverage the core functionalities of SlicerROS2 in realistic image-guided robotics scenarios.
图像引导机器人干预涉及将医学成像与机器人技术结合使用。SlicerROS2是一个软件模块，它将3D Slicer和机器人操作系统（ROS）结合起来，以寻求医学机器人研究的标准集成方法。SlicerROS2的首个版本展示了使用3D Slicer和ROS的C++ API实时加载和可视化机器人的可行性。自首次发布以来，我们对该模块进行了重写和重新设计，以提供更高的模块化、对底层功能的访问、对3D Slicer的Python API的访问以及更好的数据传输协议。在本文中，我们介绍了这种新设计以及四个在实际图像引导机器人场景中利用SlicerROS2核心功能的应用。
