SeeBelow：基于手术机器人触诊与触觉探索的肿瘤皮下3D重建
SeeBelow: Sub-dermal 3D Reconstruction of Tumors with Surgical Robotic Palpation and Tactile Exploration
AI总结：
本文提出SeeBelow，一种视觉引导的触觉导航策略，利用三轴力传感触诊探头和贝叶斯优化，在多层组织中通过不到100次触诊实现皮下肿瘤表面轮廓的高保真3D重建。
摘要：
机器人辅助微创手术（RMIS）中的手术场景理解高度依赖视觉线索，缺乏触觉感知。带有触觉反馈的力调制手术触诊对于异常坚硬包块在皮下组织层中的定位、几何/深度估计及灵巧探索是必不可少的。以往的研究探索了表层组织异常或单层组织-肿瘤嵌入，需要300多次触诊才能生成密集的2D刚度图。我们的方法侧重于使用视觉引导的新型触觉导航策略，对多层组织（皮肤-脂肪-肌肉）中的皮下肿瘤表面轮廓进行3D重建。利用配备三轴力传感的机器人触诊探头对体模进行触觉探索。从由深度相机初始化的手术区域表面网格出发，该策略通过从贝叶斯优化中采样的触诊来探索外科医生感兴趣的区域。每次触诊都包含使用接触安全的阻抗控制器进行轮廓跟随，以追踪皮下肿瘤几何形状，直到触及底层的肿瘤-组织边界。通过对这些轮廓跟随触诊轨迹进行投影，能够在不到100次触诊内完成皮下肿瘤表面轮廓的3D重建。我们的方法能够对具有各向同性弹性的组织层中的刚性肿瘤嵌入生成高保真3D表面重建，尽管软肿瘤几何形状仍有待探索。
英文摘要：
Surgical scene understanding in Robot-assisted Minimally Invasive Surgery (RMIS) is highly reliant on visual cues and lacks tactile perception. Force-modulated surgical palpation with tactile feedback is necessary for localization, geometry/depth estimation, and dexterous exploration of abnormal stiff inclusions in subsurface tissue layers. Prior works explored surface-level tissue abnormalities or single layered tissue-tumor embeddings with more than 300 palpations for dense 2D stiffness mapping. Our approach focuses on 3D reconstructions of sub-dermal tumor surface profiles in multi-layered tissue (skin-fat-muscle) using a visually-guided novel tactile navigation policy. A robotic palpation probe with tri-axial force sensing was leveraged for tactile exploration of the phantom. From a surface mesh of the surgical region initialized from a depth camera, the policy explores a surgeon's region of interest through palpation, sampled from bayesian optimization. Each palpation includes contour following using a contact-safe impedance controller to trace the sub-dermal tumor geometry, until the underlying tumor-tissue boundary is reached. Projections of these contour following palpation trajectories allows 3D reconstruction of the subdermal tumor surface profile in less than 100 palpations. Our approach generates high-fidelity 3D surface reconstructions of rigid tumor embeddings in tissue layers with isotropic elasticities, although soft tumor geometries are yet to be explored.
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