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原文摘要

Full autonomy has been a long-term goal in robotic surgery and a near-to-medium-term goal for prostatectomy. Due to the relatively closed structure of the procedure, its standard-of-care robotic/laparoscopic solutions, and procedure economics, prostate procedures are an optimal early target for surgical automation. Prototyping and testing of possible solutions is done in constructed laboratory phantoms, either synthetic tissues or animal phantoms. To enable measurement of perceptual and robotic motion error, phantoms undergo volumetric imaging; these images are critical to both a potential deployed automatic system, used in planning motion and treatment (cutting, ablation, suturing, etc.), as well as post-hoc assessment of system performance. Rapid iteration on these phantom models yields small, inconsistent datasets, while the current workflow for human annotation is often anatomically unreliable and prohibitively time-consuming, rendering deep learning unsuitable at reasonable scales. To address these limitations, we present an automated 3D segmentation pipeline that uses classical medical image-processing techniques to encode the known anatomy of the phantoms as explicit geometric and intensity priors, which requires no training corpus and is transferred to each new phantom revision without re-annotation. Across 57 scans spanning multiple phantom revisions, our pipeline recovers the capsule interior at 0.83 median Dice on 11 contrast-suppressed scans and detects all 32 annotated focal lesions without false positives, completing a full scan in 2-8 minutes on commodity CPU hardware versus 1-2 hours by hand.