TY - JOUR
T1 - Real-Time Intraoperative Surgical Guidance System in the da Vinci Surgical Robot Based on Transrectal Ultrasound/Photoacoustic Imaging With Photoacoustic Markers
T2 - An Ex Vivo Demonstration
AU - Song, Hyunwoo
AU - Moradi, Hamid
AU - Jiang, Baichuan
AU - Xu, Keshuai
AU - Wu, Yixuan
AU - Taylor, Russell H.
AU - Deguet, Anton
AU - Kang, Jin U.
AU - Salcudean, Septimiu E.
AU - Boctor, Emad
N1 - Funding Information:
This work was supported in part by the NSF Career under Grant 1653322, in part by NIH under Grant R01-CA134675, in part by Johns Hopkins University internal funds, in part by the Canadian Institutes of Health Research, and in part by the CA Laszlo Chair in Biomedical Engineering held by Professor Salcudean, and an equipment loan from Intuitive Surgical, Inc.
Publisher Copyright:
© 2016 IEEE.
PY - 2023/3/1
Y1 - 2023/3/1
N2 - This letter introduces the first integrated real-time intraoperative surgical guidance system, in which an endoscope camera of da Vinci surgical robot and a transrectal ultrasound (TRUS) transducer are co-registered using photoacoustic markers that are detected in both fluorescence (FL) and photoacoustic (PA) imaging. The co-registered system enables the TRUS transducer to track the laser spot illuminated by a pulsed-laser-diode attached to the surgical instrument, providing both FL and PA images of the surgical region-of-interest (ROI). As a result, the generated photoacoustic marker is visualized and localized in the da Vinci endoscopic FL images, and the corresponding tracking can be conducted by rotating the TRUS transducer to display the PA image of the marker. A quantitative evaluation revealed that the average registration and tracking errors were 0.84 mm and 1.16°, respectively. This study shows that the co-registered photoacoustic marker tracking can be effectively deployed intraoperatively using TRUS+PA imaging providing functional guidance of the surgical ROI.
AB - This letter introduces the first integrated real-time intraoperative surgical guidance system, in which an endoscope camera of da Vinci surgical robot and a transrectal ultrasound (TRUS) transducer are co-registered using photoacoustic markers that are detected in both fluorescence (FL) and photoacoustic (PA) imaging. The co-registered system enables the TRUS transducer to track the laser spot illuminated by a pulsed-laser-diode attached to the surgical instrument, providing both FL and PA images of the surgical region-of-interest (ROI). As a result, the generated photoacoustic marker is visualized and localized in the da Vinci endoscopic FL images, and the corresponding tracking can be conducted by rotating the TRUS transducer to display the PA image of the marker. A quantitative evaluation revealed that the average registration and tracking errors were 0.84 mm and 1.16°, respectively. This study shows that the co-registered photoacoustic marker tracking can be effectively deployed intraoperatively using TRUS+PA imaging providing functional guidance of the surgical ROI.
KW - Medical robots and systems
KW - photoacoustic imaging
KW - software-hardware integration for robot systems
KW - surgical guidance system
KW - transrectal ultrasound imaging
UR - http://www.scopus.com/inward/record.url?scp=85135221090&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85135221090&partnerID=8YFLogxK
U2 - 10.1109/LRA.2022.3191788
DO - 10.1109/LRA.2022.3191788
M3 - Article
AN - SCOPUS:85135221090
SN - 2377-3766
VL - 8
SP - 1287
EP - 1294
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 3
ER -