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The aim of this paper is to introduce a robotic platform for autonomous iUStissue scanning to optimise intraoperative diagnosis and improve surgicalresection during robot-assisted operations. To guide anatomy specific roboticscanning and generate a representation of the robot task space, fast andaccurate techniques for the recovery of 3D morphological structures of thesurgical cavity are developed. The prototypic DLR MIRO surgical robotic arm isused to control the applied force and the in-plane motion of the US transducer.A key application of the proposed platform is the scanning of brain tissue toguide tumour resection.

Collaborative Robotic Ultrasound Tissue Scanning for Surgical Resection Guidance in Neurosurgery