Virtobot—a multi‐functional robotic system for 3D surface scanning and automatic post mortem biopsy
Identifieur interne : 001165 ( Istex/Corpus ); précédent : 001164; suivant : 001166Virtobot—a multi‐functional robotic system for 3D surface scanning and automatic post mortem biopsy
Auteurs : Lars Christian Ebert ; Wolfgang Ptacek ; Silvio Naether ; Martin Fürst ; Steffen Ross ; Ursula Buck ; Stefan Weber ; Michael ThaliSource :
- The International Journal of Medical Robotics and Computer Assisted Surgery [ 1478-5951 ] ; 2010-03.
English descriptors
- KwdEn :
Abstract
Background: The Virtopsy project, a multi‐disciplinary project that involves forensic science, diagnostic imaging, computer science, automation technology, telematics and biomechanics, aims to develop new techniques to improve the outcome of forensic investigations. This paper presents a new approach in the field of minimally invasive virtual autopsy for a versatile robotic system that is able to perform three‐dimensional (3D) surface scans as well as post mortem image‐guided soft tissue biopsies. Methods: The system consists of an industrial six‐axis robot with additional extensions (i.e. a linear axis to increase working space, a tool‐changing system and a dedicated safety system), a multi‐slice CT scanner with equipment for angiography, a digital photogrammetry and 3D optical surface‐scanning system, a 3D tracking system, and a biopsy end effector for automatic needle placement. A wax phantom was developed for biopsy accuracy tests. Results: Surface scanning times were significantly reduced (scanning times cut in half, calibration three times faster). The biopsy module worked with an accuracy of 3.2 mm. Discussion: Using the Virtobot, the surface‐scanning procedure could be standardized and accelerated. The biopsy module is accurate enough for use in biopsies in a forensic setting. Conclusion: The Virtobot can be utilized for several independent tasks in the field of forensic medicine, and is sufficiently versatile to be adapted to different tasks in the future. Copyright © 2009 John Wiley & Sons, Ltd.
Url:
DOI: 10.1002/rcs.285
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<correspondenceTo>Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland.===</correspondenceTo>
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<titleGroup><title type="main" xml:lang="en">Virtobot—a multi‐functional robotic system for 3D surface scanning and automatic post mortem biopsy</title>
<title type="short" xml:lang="en">Multi‐functional robotic system for 3D surface scanning and automatic post mortem biopsy</title>
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<creators><creator xml:id="au1" creatorRole="author" affiliationRef="#af1 #af4" corresponding="yes"><personName><givenNames>Lars Christian</givenNames>
<familyName>Ebert</familyName>
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<contactDetails><email>Lars.Ebert@irm.unibe.ch</email>
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<creator xml:id="au2" creatorRole="author" affiliationRef="#af3"><personName><givenNames>Wolfgang</givenNames>
<familyName>Ptacek</familyName>
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<creator xml:id="au3" creatorRole="author" affiliationRef="#af1"><personName><givenNames>Silvio</givenNames>
<familyName>Naether</familyName>
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<creator xml:id="au4" creatorRole="author" affiliationRef="#af3"><personName><givenNames>Martin</givenNames>
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<creator xml:id="au5" creatorRole="author" affiliationRef="#af1"><personName><givenNames>Steffen</givenNames>
<familyName>Ross</familyName>
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<creator xml:id="au6" creatorRole="author" affiliationRef="#af1"><personName><givenNames>Ursula</givenNames>
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<creator xml:id="au7" creatorRole="author" affiliationRef="#af2"><personName><givenNames>Stefan</givenNames>
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<creator xml:id="au8" creatorRole="author" affiliationRef="#af1"><personName><givenNames>Michael</givenNames>
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<affiliation xml:id="af3" countryCode="AT" type="organization"><unparsedAffiliation>PROFACTOR GmbH, Im Stadtgut A2, A‐4407 Steyr‐Gleink, Austria</unparsedAffiliation>
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<affiliation xml:id="af4" countryCode="CH" type="organization"><unparsedAffiliation>Institute for Surgical Technology & Biomechanics, University of Bern, Stauffacher Strasse 78, CH‐3015 Bern, Switzerland</unparsedAffiliation>
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<keywordGroup xml:lang="en" type="author"><keyword xml:id="kwd1">virtopsy</keyword>
<keyword xml:id="kwd2">robotics</keyword>
<keyword xml:id="kwd3">biopsy</keyword>
<keyword xml:id="kwd4">surface scanning</keyword>
<keyword xml:id="kwd5">photogrammetry</keyword>
<keyword xml:id="kwd6">post mortem</keyword>
<keyword xml:id="kwd7">autopsy</keyword>
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<fundingInfo><fundingAgency>NCCR Co‐Me of the Swiss National Science Foundation</fundingAgency>
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<abstractGroup><abstract type="main" xml:lang="en"><title type="main">Abstract</title>
<section xml:id="abs1-1"><title type="main">Background</title>
<p>The Virtopsy project, a multi‐disciplinary project that involves forensic science, diagnostic imaging, computer science, automation technology, telematics and biomechanics, aims to develop new techniques to improve the outcome of forensic investigations. This paper presents a new approach in the field of minimally invasive virtual autopsy for a versatile robotic system that is able to perform three‐dimensional (3D) surface scans as well as post mortem image‐guided soft tissue biopsies.</p>
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<section xml:id="abs1-2"><title type="main">Methods</title>
<p>The system consists of an industrial six‐axis robot with additional extensions (i.e. a linear axis to increase working space, a tool‐changing system and a dedicated safety system), a multi‐slice CT scanner with equipment for angiography, a digital photogrammetry and 3D optical surface‐scanning system, a 3D tracking system, and a biopsy end effector for automatic needle placement. A wax phantom was developed for biopsy accuracy tests.</p>
</section>
<section xml:id="abs1-3"><title type="main">Results</title>
<p>Surface scanning times were significantly reduced (scanning times cut in half, calibration three times faster). The biopsy module worked with an accuracy of 3.2 mm.</p>
</section>
<section xml:id="abs1-4"><title type="main">Discussion</title>
<p>Using the Virtobot, the surface‐scanning procedure could be standardized and accelerated. The biopsy module is accurate enough for use in biopsies in a forensic setting.</p>
</section>
<section xml:id="abs1-5"><title type="main">Conclusion</title>
<p>The Virtobot can be utilized for several independent tasks in the field of forensic medicine, and is sufficiently versatile to be adapted to different tasks in the future. Copyright © 2009 John Wiley & Sons, Ltd.</p>
</section>
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<affiliation>Institute for Surgical Technology & Biomechanics, University of Bern, Stauffacher Strasse 78, CH‐3015 Bern, Switzerland</affiliation>
<description>Correspondence: Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland.===</description>
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<name type="personal"><namePart type="given">Wolfgang</namePart>
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<name type="personal"><namePart type="given">Silvio</namePart>
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<name type="personal"><namePart type="given">Ursula</namePart>
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<abstract lang="en">Background: The Virtopsy project, a multi‐disciplinary project that involves forensic science, diagnostic imaging, computer science, automation technology, telematics and biomechanics, aims to develop new techniques to improve the outcome of forensic investigations. This paper presents a new approach in the field of minimally invasive virtual autopsy for a versatile robotic system that is able to perform three‐dimensional (3D) surface scans as well as post mortem image‐guided soft tissue biopsies. Methods: The system consists of an industrial six‐axis robot with additional extensions (i.e. a linear axis to increase working space, a tool‐changing system and a dedicated safety system), a multi‐slice CT scanner with equipment for angiography, a digital photogrammetry and 3D optical surface‐scanning system, a 3D tracking system, and a biopsy end effector for automatic needle placement. A wax phantom was developed for biopsy accuracy tests. Results: Surface scanning times were significantly reduced (scanning times cut in half, calibration three times faster). The biopsy module worked with an accuracy of 3.2 mm. Discussion: Using the Virtobot, the surface‐scanning procedure could be standardized and accelerated. The biopsy module is accurate enough for use in biopsies in a forensic setting. Conclusion: The Virtobot can be utilized for several independent tasks in the field of forensic medicine, and is sufficiently versatile to be adapted to different tasks in the future. Copyright © 2009 John Wiley & Sons, Ltd.</abstract>
<note type="funding">NCCR Co‐Me of the Swiss National Science Foundation</note>
<subject lang="en"><genre>keywords</genre>
<topic>virtopsy</topic>
<topic>robotics</topic>
<topic>biopsy</topic>
<topic>surface scanning</topic>
<topic>photogrammetry</topic>
<topic>post mortem</topic>
<topic>autopsy</topic>
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<relatedItem type="host"><titleInfo><title>The International Journal of Medical Robotics and Computer Assisted Surgery</title>
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<titleInfo type="abbreviated"><title>Int. J. Med. Robotics Comput. Assist. Surg.</title>
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<identifier type="ISSN">1478-5951</identifier>
<identifier type="eISSN">1478-596X</identifier>
<identifier type="DOI">10.1002/(ISSN)1478-596X</identifier>
<identifier type="PublisherID">RCS</identifier>
<part><date>2010</date>
<detail type="volume"><caption>vol.</caption>
<number>6</number>
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<detail type="issue"><caption>no.</caption>
<number>1</number>
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<extent unit="pages"><start>18</start>
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<identifier type="DOI">10.1002/rcs.285</identifier>
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