用移动机器人自动扫描尸体表面，提升法医记录效率与精度。
A Mobile Robotic Approach to Autonomous Surface Scanning in Legal Medicine
- 设计可移动机器人系统，通过三位置布局实现全身扫描覆盖。
- 实测对假人和真实遗体的平均覆盖率分别达96.90%和92.45%。
- 适合法医、司法鉴定机构，用于替代人工表面扫描。
目的：法医全面记录包括尸体内外部检查。传统尸检中，外部检查依赖人工，数字记录对伤口分析日益重要。本文引入RGB-D表面扫描技术。手持相机扫描耗时且依赖操作者，固定安装机器人则需专用空间。为此，我们探索移动机器人在外部扫描中的可行性。方法：开发移动机器人系统，实现全身RGB-D扫描；通过配置空间分析确定关键环境参数，并在实验室及法医场景中验证。结果：配置分析表明，三个基座位置可实现覆盖与时间的良好平衡，覆盖率达94.96%。实验显示，对身体假人和实际遗体的平均表面覆盖率分别为96.90±3.16%和92.45±1.43%。结论：本研究证明移动机器人可实现法医中RGB-D表面扫描的自动化，补充尸检CT对内部结构的记录。结果表明该系统能提高记录效率，减少人工干预。
原文摘要 · Abstract (English)
Purpose: Comprehensive legal medicine documentation includes both an internal but also an external examination of the corpse. Typically, this documentation is conducted manually during conventional autopsy. A systematic digital documentation would be desirable, especially for the external examination of wounds, which is becoming more relevant for legal medicine analysis. For this purpose, RGB surface scanning has been introduced. While a manual full surface scan using a handheld camera is timeconsuming and operator dependent, floor or ceiling mounted robotic systems require substantial space and a dedicated room. Hence, we consider whether a mobile robotic system can be used for external documentation. Methods: We develop a mobile robotic system that enables full-body RGB-D surface scanning. Our work includes a detailed configuration space analysis to identify the environmental parameters that need to be considered to successfully perform a surface scan. We validate our findings through an experimental study in the lab and demonstrate the system's application in a legal medicine environment. Results: Our configuration space analysis shows that a good trade-off between coverage and time is reached with three robot base positions, leading to a coverage of 94.96 %. Experiments validate the effectiveness of the system in accurately capturing body surface geometry with an average surface coverage of 96.90 +- 3.16 % and 92.45 +- 1.43 % for a body phantom and actual corpses, respectively. Conclusion: This work demonstrates the potential of a mobile robotic system to automate RGB-D surface scanning in legal medicine, complementing the use of post-mortem CT scans for inner documentation. Our results indicate that the proposed system can contribute to more efficient and autonomous legal medicine documentation, reducing the need for manual intervention.
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