Semi-automatic surgical planning system for autonomous robots
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12148Keywords:
Surgical planning, Robotics, Path planning, Autonomy of surgical robotsAbstract
This article presents a semi-automated system for the transfer of robotic surgical planning performed in a 2D/3D environment. It allows the position information on the trajectory manually defined by a surgeon to be extended with orientation and velocity information, necessary for its autonomous execution by a surgical robot. The system includes a neural network for the semi-automatic segmentation of liver tissues. To calculate the orientations and velocities of the robot's effector, the system relies on the calculation of normals to the anatomical surface of the segmented organ at each point along the trajectory. The presented solution has been implemented as a software plug-in within the 3D Slicer open-source project and integrated with ROS for transfer to a UR5e robot. Validation has been performed on a liver segment III resection case, and the results show that the system is efficient, accurate, and suitable for use in surgical planning environments.
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Copyright (c) 2025 Marina Poveda Pérez, Juliana Manrique Córdoba, Sergio Lidon Calvo, María Brotons López, Carlos Martorell Llobregat, José María Sabater Navarro
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