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.
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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.
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DOI: 10.1002/rcs.285
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J. Med. Robotics Comput. Assist. Surg.</title><idno type="ISSN">1478-5951</idno><idno type="eISSN">1478-596X</idno><imprint><publisher>John Wiley & Sons, Ltd.</publisher><pubPlace>Chichester, UK</pubPlace><date type="published" when="2010-03">2010-03</date><biblScope unit="volume">6</biblScope><biblScope unit="issue">1</biblScope><biblScope unit="page" from="18">18</biblScope><biblScope unit="page" to="27">27</biblScope></imprint><idno type="ISSN">1478-5951</idno></series><idno type="istex">329BB5453C950B6883EDD8666C630736EA244245</idno><idno type="DOI">10.1002/rcs.285</idno><idno type="ArticleID">RCS285</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">1478-5951</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>autopsy</term><term>biopsy</term><term>photogrammetry</term><term>post mortem</term><term>robotics</term><term>surface scanning</term><term>virtopsy</term></keywords></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml: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.</div></front></TEI><istex><corpusName>wiley</corpusName><author><json:item><name>Lars Christian Ebert</name><affiliations><json:string>Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland</json:string><json:string>Institute for Surgical Technology & Biomechanics, University of Bern, Stauffacher Strasse 78, CH‐3015 Bern, Switzerland</json:string></affiliations></json:item><json:item><name>Wolfgang Ptacek</name><affiliations><json:string>PROFACTOR GmbH, Im Stadtgut A2, A‐4407 Steyr‐Gleink, Austria</json:string></affiliations></json:item><json:item><name>Silvio Naether</name><affiliations><json:string>Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland</json:string></affiliations></json:item><json:item><name>Martin Fürst</name><affiliations><json:string>PROFACTOR GmbH, Im Stadtgut A2, A‐4407 Steyr‐Gleink, Austria</json:string></affiliations></json:item><json:item><name>Steffen Ross</name><affiliations><json:string>Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland</json:string></affiliations></json:item><json:item><name>Ursula Buck</name><affiliations><json:string>Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland</json:string></affiliations></json:item><json:item><name>Stefan Weber</name><affiliations><json:string>Artorg Research Centre, University of Bern, Stauffacher Strasse 78, CH‐3015 Bern, Switzerland</json:string></affiliations></json:item><json:item><name>Michael Thali</name><affiliations><json:string>Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland</json:string></affiliations></json:item></author><subject><json:item><lang><json:string>eng</json:string></lang><value>virtopsy</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>robotics</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>biopsy</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>surface scanning</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>photogrammetry</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>post mortem</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>autopsy</value></json:item></subject><articleId><json:string>RCS285</json:string></articleId><language><json:string>eng</json:string></language><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. 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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. 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number="20"></count></countGroup><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></titleGroup><creators><creator xml:id="au1" creatorRole="author" affiliationRef="#af1 #af4" corresponding="yes"><personName><givenNames>Lars Christian</givenNames><familyName>Ebert</familyName></personName><contactDetails><email>Lars.Ebert@irm.unibe.ch</email></contactDetails></creator><creator xml:id="au2" creatorRole="author" affiliationRef="#af3"><personName><givenNames>Wolfgang</givenNames><familyName>Ptacek</familyName></personName></creator><creator xml:id="au3" creatorRole="author" affiliationRef="#af1"><personName><givenNames>Silvio</givenNames><familyName>Naether</familyName></personName></creator><creator xml:id="au4" creatorRole="author" affiliationRef="#af3"><personName><givenNames>Martin</givenNames><familyName>Fürst</familyName></personName></creator><creator xml:id="au5" creatorRole="author" affiliationRef="#af1"><personName><givenNames>Steffen</givenNames><familyName>Ross</familyName></personName></creator><creator xml:id="au6" creatorRole="author" affiliationRef="#af1"><personName><givenNames>Ursula</givenNames><familyName>Buck</familyName></personName></creator><creator xml:id="au7" creatorRole="author" affiliationRef="#af2"><personName><givenNames>Stefan</givenNames><familyName>Weber</familyName></personName></creator><creator xml:id="au8" creatorRole="author" affiliationRef="#af1"><personName><givenNames>Michael</givenNames><familyName>Thali</familyName></personName></creator></creators><affiliationGroup><affiliation xml:id="af1" countryCode="CH" type="organization"><unparsedAffiliation>Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland</unparsedAffiliation></affiliation><affiliation xml:id="af2" countryCode="CH" type="organization"><unparsedAffiliation>Artorg Research Centre, University of Bern, Stauffacher Strasse 78, CH‐3015 Bern, Switzerland</unparsedAffiliation></affiliation><affiliation xml:id="af3" countryCode="AT" type="organization"><unparsedAffiliation>PROFACTOR GmbH, Im Stadtgut A2, A‐4407 Steyr‐Gleink, Austria</unparsedAffiliation></affiliation><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></affiliation></affiliationGroup><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></keywordGroup><fundingInfo><fundingAgency>NCCR Co‐Me of the Swiss National Science Foundation</fundingAgency></fundingInfo><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></section><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></abstract></abstractGroup></contentMeta></header></component></istex:document></istex:metadataXml><mods version="3.6"><titleInfo lang="en"><title>Virtobot—a multi‐functional robotic system for 3D surface scanning and automatic post mortem biopsy</title></titleInfo><titleInfo type="abbreviated" lang="en"><title>Multi‐functional robotic system for 3D surface scanning and automatic post mortem biopsy</title></titleInfo><titleInfo type="alternative" contentType="CDATA" lang="en"><title>Virtobot—a multi‐functional robotic system for 3D surface scanning and automatic post mortem biopsy</title></titleInfo><name type="personal"><namePart type="given">Lars Christian</namePart><namePart type="family">Ebert</namePart><affiliation>Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland</affiliation><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><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Wolfgang</namePart><namePart type="family">Ptacek</namePart><affiliation>PROFACTOR GmbH, Im Stadtgut A2, A‐4407 Steyr‐Gleink, Austria</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Silvio</namePart><namePart type="family">Naether</namePart><affiliation>Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Martin</namePart><namePart type="family">Fürst</namePart><affiliation>PROFACTOR GmbH, Im Stadtgut A2, A‐4407 Steyr‐Gleink, Austria</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Steffen</namePart><namePart type="family">Ross</namePart><affiliation>Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Ursula</namePart><namePart type="family">Buck</namePart><affiliation>Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Stefan</namePart><namePart type="family">Weber</namePart><affiliation>Artorg Research Centre, University of Bern, Stauffacher Strasse 78, CH‐3015 Bern, Switzerland</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Michael</namePart><namePart type="family">Thali</namePart><affiliation>Institute of Forensic Medicine, University of Bern, Bühlstrasse 20, CH‐3012 Bern, Switzerland</affiliation><role><roleTerm type="text">author</roleTerm></role></name><typeOfResource>text</typeOfResource><genre type="article" displayLabel="article"></genre><originInfo><publisher>John Wiley & Sons, Ltd.</publisher><place><placeTerm type="text">Chichester, UK</placeTerm></place><dateIssued encoding="w3cdtf">2010-03</dateIssued><dateValid encoding="w3cdtf">2009-08-07</dateValid><copyrightDate encoding="w3cdtf">2010</copyrightDate></originInfo><language><languageTerm type="code" authority="rfc3066">en</languageTerm><languageTerm type="code" authority="iso639-2b">eng</languageTerm></language><physicalDescription><internetMediaType>text/html</internetMediaType><extent unit="figures">11</extent><extent unit="references">20</extent></physicalDescription><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></subject><relatedItem type="host"><titleInfo><title>The International Journal of Medical Robotics and Computer Assisted Surgery</title></titleInfo><titleInfo type="abbreviated"><title>Int. J. Med. Robotics Comput. Assist. Surg.</title></titleInfo><genre type="journal">journal</genre><subject><genre>article-category</genre><topic>Original Article</topic></subject><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></detail><detail type="issue"><caption>no.</caption><number>1</number></detail><extent unit="pages"><start>18</start><end>27</end><total>10</total></extent></part></relatedItem><identifier type="istex">329BB5453C950B6883EDD8666C630736EA244245</identifier><identifier type="DOI">10.1002/rcs.285</identifier><identifier type="ArticleID">RCS285</identifier><accessCondition type="use and reproduction" contentType="copyright">Copyright © 2009 John Wiley & Sons, Ltd.</accessCondition><recordInfo><recordContentSource>WILEY</recordContentSource><recordOrigin>John Wiley & Sons, Ltd.</recordOrigin></recordInfo></mods></metadata><serie></serie></istex></record>Pour manipuler ce document sous Unix (Dilib)
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