SLICERROS2: open-source software platform for image-guided and robot-assisted interventions

The National Institute of Biomedical Imaging and Bioengineering awarded Brigham & Women's Hospital Inc. one dollar on September 1, 2026, under the Discovery and Applied Research for Technological Innovations to Improve Human Health program (CFDA 93.286) to enhance the interoperability and reusability of SlicerROS2, an open-source software platform for image-guided and robot-assisted interventions (IGRIS).

The project aims to promote the Findable, Accessible, Interoperable, and Reusable (FAIR4RS) principles for research software supporting IGRIS. The work addresses a clinical need: globally, more than 232 million surgeries and interventions occur annually, with complication rates reaching up to 20 percent. IGRIS research is exploring ways to aid surgeons in identifying and accessing lesions with minimal invasion, but deployment has been hampered by mismatches between preoperative anatomical maps and actual surgical fields caused by patient motion and other uncertainties. The research community has shifted from hardware-centric to software-centric approaches emphasizing advanced control algorithms, machine learning, and artificial intelligence. This shift relies on modular software development using platforms such as the Robot Operating System (ROS) for robotics and 3D Slicer for medical image computing. However, integrating these diverse software components for IGRIS presents unique technical challenges that SlicerROS2 is designed to address.

The period of performance runs through August 31, 2028. Work is performed in Massachusetts.

Abstract

This project aims to promote the findable, accessible, interoperable, and reusable principles for research software (FAIR4RS) for research on image-guided and robot-assisted interventions (igris) by establishing a robust software ecosystem. Specifically, we aim to enhance the interoperability and reusability of SLICERROS2, our open-source software platform for igris. Globally, more than 232 million surgeries and interventions are performed annually, including 51.4 million in the united states. Despite advancements in surgical technology and techniques, complication rates remain high, reaching up to 20%. Igris are being explored to aid surgeons' ability to identify and access lesions with minimal invasion, ultimately leading to better clinical outcomes. However, igris have yet to demonstrate a consistent advantage over conventional non-robotic procedures in part due to a mismatch between an anatomical map, typically computed from preoperative images, and the actual surgical field caused by various uncertainties, such as patient motion. Recognizing these challenges has led to a paradigm shift in medical robotics research-from hardware-centric to software-centric approaches- emphasizing advanced control algorithms over robotic hardware to address real-world uncertainties. The trend has been fueled by the availability of common research hardware platforms, such as lightweight robotic arms and the DA vinci research kit (dvrk), as well as rapid advancements in machine learning (ML) and artificial intelligence (AI). The software-centric approach generally relies on diverse software components, prompting a shift from small-scale monolithic development to large-scale modular development using platforms like the robot operating system (ROS) for robotics and 3D slicer for medical image computing. However, this approach presents unique challenges for igris because existing software components are typically developed and used within the ecosystem of a specific platform-such as robotics features on ROS and imaging features on 3D slicer. These platforms often differ in data types, programming languages, object classes, coding styles, build systems, and libraries, making integration difficult. This fragmentation has made IT challenging for researchers to build, maintain, and share fully integrated and reproducible igri systems. To address this, SLICERROS2 was developed to merge the ecosystems of 3D slicer and ROS version 2, enabling developers to integrate advanced robotics and imaging capabilities into a unified system. Since its initial release, SLICERROS2 has garnered increasing interest from both medical robotics and medical image computing communities. However, its current implementation is not yet ready for widespread adoption due to issues related to library dependencies and binary distribution. In this project, we aim to overcome these challenges by enhancing SLICERROS2's portability, versatility, and maintainability through the following specific aims: (aim 1) refactor SLICERROS2 to simplify its building, distribution, and deployment processes. (aim 2) disseminate SLICERROS2 widely within the medical image computing and robotics communities.