用虚拟现实数字孪生系统远程操控机器人进行尸检取样，更安全精准。
A Digital Twin for Robotic Post Mortem Tissue Sampling using Virtual Reality
- 通过数字孪生+虚拟现实实现远程规划与控制
- 132次穿刺误差仅5.30±3.25毫米，样本成功获取
- 适合法医病理学家使用，降低感染风险
尸检组织采样是诊断死因和理解疾病机制的金标准。近年来，微创尸检活检受到关注，相比传统开棺解剖更少破坏且降低感染风险。尽管超声引导下人工活检已较普遍，但机器人辅助尸检活检可进一步减少医生感染风险。然而，手术规划与机器人控制需高效易用。本文提出基于虚拟现实的数字孪生系统，实现完全远程的机器人尸检活检规划与控制。在法医病理学家中评估了三种交互方式的可用性，并在三具人体遗体上验证临床可行性。共完成132次穿刺，偏轴放置误差为5.30±3.25毫米，组织样本成功获取并经组织病理学验证。用户反馈针头定位直观，表明该系统是传统方法的高精度、低风险替代方案。
原文摘要 · Abstract (English)
Studying tissue samples obtained during autopsies is the gold standard when diagnosing the cause of death and for understanding disease pathophysiology. Recently, the interest in post mortem minimally invasive biopsies has grown which is a less destructive approach in comparison to an open autopsy and reduces the risk of infection. While manual biopsies under ultrasound guidance are more widely performed, robotic post mortem biopsies have been recently proposed. This approach can further reduce the risk of infection for physicians. However, planning of the procedure and control of the robot need to be efficient and usable. We explore a virtual reality setup with a digital twin to realize fully remote planning and control of robotic post mortem biopsies. The setup is evaluated with forensic pathologists in a usability study for three interaction methods. Furthermore, we evaluate clinical feasibility and evaluate the system with three human cadavers. Overall, 132 needle insertions were performed with an off-axis needle placement error of 5.30+-3.25 mm. Tissue samples were successfully biopsied and histopathologically verified. Users reported a very intuitive needle placement approach, indicating that the system is a promising, precise, and low-risk alternative to conventional approaches.
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