机器人自动扫描组织光谱，提升癌症切除精准度。
Automatic Robotic-Assisted Diffuse Reflectance Spectroscopy Scanning System
- 用视觉伺服控制+高度补偿模块实现精准接触扫描
- 自动采集光谱数据与人工标准一致，重复性高
- 适合手术中实时组织评估，减轻医生负担
漫反射光谱（DRS）是一种成熟的组织成分评估光学技术，已用于临床肿瘤检测以确保癌变组织完全清除。虽然点式测量应用广泛，但自动化大范围扫描可实现更全面的组织采样并提高一致性。本文提出一种机器人系统，支持自主 DRS 扫描，采用混合视觉伺服控制，并配备专用高度补偿模块以精确控制接触条件。评估结果显示，该系统能准确执行扫描指令，获取的 DRS 光谱与当前金标准人工采集结果相当，具备高可靠性与可重复性。将该系统集成至手术流程，可实现术中自主 DRS 组织评估，减少医生手动扫描需求，保障肿瘤完整切除。
原文摘要 · Abstract (English)
Diffuse Reflectance Spectroscopy (DRS) is a well-established optical technique for tissue composition assessment which has been clinically evaluated for tumour detection to ensure the complete removal of cancerous tissue. While point-wise assessment has many potential applications, incorporating automated large-area scanning would enable holistic tissue sampling with higher consistency. We propose a robotic system to facilitate autonomous DRS scanning with hybrid visual servoing control. A specially designed height compensation module enables precise contact condition control. The evaluation results show that the system can accurately execute the scanning command and acquire consistent DRS spectra with comparable results to the manual collection, which is the current gold standard protocol. Integrating the proposed system into surgery lays the groundwork for autonomous intra-operative DRS tissue assessment with high reliability and repeatability. This could reduce the need for manual scanning by the surgeon while ensuring complete tumor removal in clinical practice.
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