整合3D Slicer与ROS，实现医学机器人实时可视化与控制
SlicerROS2: A Research and Development Module for Image-Guided Robotic Interventions
- 基于C++与Python API打通3D Slicer与ROS的双向通信
- 支持机器人实时加载、可视化及低层控制功能
- 适用于医学影像引导机器人研发的通用开发框架
图像引导机器人手术结合医学影像与机器人技术。SlicerROS2 是一个将 3D Slicer 与机器人操作系统（ROS）集成的软件模块，旨在为医学机器人研究提供标准化集成方案。首次发布时已验证了通过 3D Slicer 的 C++ API 和 ROS 实现机器人实时加载与可视化的可行性。此后，模块被重写并重构，提升了模块化程度，增加了对底层功能的访问能力、对 3D Slicer Python API 的支持以及更优的数据传输协议。本文介绍了该新设计，并展示四个基于 SlicerROS2 核心功能的真实图像引导机器人应用场景。
原文摘要 · Abstract (English)
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for medical robotics research. The first release of SlicerROS2 demonstrated the feasibility of using the C++ API from 3D Slicer and ROS to load and visualize robots in real time. Since this initial release, we've rewritten and redesigned the module to offer greater modularity, access to low-level features, access to 3D Slicer's Python API, and better data transfer protocols. In this paper, we introduce this new design as well as four applications that leverage the core functionalities of SlicerROS2 in realistic image-guided robotics scenarios.
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