Robotic-assisted partial nephrectomy (RAPN) is a surgi- cal procedure that employs robotics to remove a portion of diseased kidney. During the procedure, a drop-in Ultrasound (US) probe is used to identify the resec- tion margins. Although the robot facilitates the task, the scanning of the kidney proves challenging due to slippage and requires a highly skilled surgeon [1]. In previous work [2], we presented a Pneumatically Attach- able Flexible (PAF) rail to enable stable, track-guided US scanning of the kidney during RAPN. In [3] and [4], we have investigated the autonomous deployment of the PAF rail on the surface of the organ and their use in intraoperative organ manipulation. In [5], Wang et al. studied the 3-D reconstruction of a mass embedded in a kidney phantom when the PAF rail guides the US probe. In this work, we investigate autonomous control during the US scanning using the PAF rails, specifically using fibre-optic shape-sensing data as the input for path- planning. First, we present the design and fabrication of the sensorized PAF rail; then we assess the performance of real-time curvature sensing with the sensorized PAF rail system on rigid and soft phantoms; finally, we demonstrate how the PAF rail local shape data can be used to plan a trajectory and autonomously guide an intraoperative US probe.
While radioguided surgery traditionally relied on detecting gamma rays, direct detection of beta particles could facilitate the detection of tumour margins intraoperatively by reducing radiation noise emanating from distant organs, thereby improving the signal-to-noise ratio (SNR) of the imaging technique. In addition, most existing beta detectors do not offer surface sensing or imaging capabilities.

Therefore, in this article, we explore the concept of a stretchable scintillator to detect beta-particles emitting radiotracers that would be directly deployed on the targetted organ. Such detectors, which we refer to as imaging skins, would work as indirect radiation detectors made of light-emitting agents and biocompatible stretchable material. Our vision is to detect scintillation using standard endoscopes routinely employed in minimally invasive surgery (MIS). Moreover, surgical robotic systems would ideally be used to apply the imaging skins, allowing for precise control of each component, thereby improving positioning and task repeatability.

 While still in the exploratory stages, this innovative approach has the potential to improve the detection of tumour margins during radioguided surgery by enabling real-time imaging, ultimately improving surgical outcomes.
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