A partial augmented reality system with live ultrasound and registered preoperative MRI for guiding robot-assisted radical prostatectomy

Samei, Golnoosh; Tsang, Keith; Kesch, Claudia; Lobo, Julio; Hor, Soheil; Mohareri, Omid; Chang, Silvia D.; Goldenberg, S. Larry; Black, Peter C.; Salcudean, Septimiu E.

doi:10.1016/j.media.2019.101588

Cited by 33 publications

(24 citation statements)

References 32 publications

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“…The minimum resolution of the angle calibration was less than 2°. As shown in Figure 12 b, when the system corrected the actual imaging angle, a tumor ultrasonic image with higher reproducibility could be obtained, and this was one of the advantages of the RUS in replacing manual scanning [ 3 , 4 , 5 , 6 ].…”

Section: Experimental Design and Resultsmentioning

confidence: 99%

“…Thus, the performance of the RUS in image capture and control could be effectively improved, which increases the efficiency of ultrasonic image detection [ 3 , 4 ]. In addition, in recent years different robot arms integrated with real-time ultrasonic images were extensively used for preoperative and intraoperative examinations by different departments, and because the robot arms have high stability and system reproducibility, human errors have been greatly reduced [ 5 , 6 ]. According to an investigation by BIS Research in 2018, the global market scale of medical robot arms was USD 5.08 billion in 2017, and has been estimated to reach USD 12.6 billion by 2025, for a compound growth rate of 12.0%, and there would be more companies devoted to the field to perform related technological research and development [ 7 ].…”

Section: Introductionmentioning

confidence: 99%

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An Improved Sensing Method of a Robotic Ultrasound System for Real-Time Force and Angle Calibration

Wang

Chen

et al. 2021

Sensors

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An ultrasonic examination is a clinically universal and safe examination method, and with the development of telemedicine and precision medicine, the robotic ultrasound system (RUS) integrated with a robotic arm and ultrasound imaging system receives increasing attention. As the RUS requires precision and reproducibility, it is important to monitor the real-time calibration of the RUS during examination, especially the angle of the probe for image detection and its force on the surface. Additionally, to speed up the integration of the RUS and the current medical ultrasound system (US), the current RUSs mostly use a self-designed fixture to connect the probe to the arm. If the fixture has inconsistencies, it may cause an operating error. In order to improve its resilience, this study proposed an improved sensing method for real-time force and angle calibration. Based on multichannel pressure sensors, an inertial measurement unit (IMU), and a novel sensing structure, the ultrasonic probe and robotic arm could be simply and rapidly combined, which rendered real-time force and angle calibration at a low cost. The experimental results show that the average success rate of the downforce position identification achieved was 88.2%. The phantom experiment indicated that the method could assist the RUS in the real-time calibration of both force and angle during an examination.

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Section: Experimental Design and Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Improved Sensing Method of a Robotic Ultrasound System for Real-Time Force and Angle Calibration

Wang

Chen

et al. 2021

Sensors

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“…In the framework of surgical navigation based on preoperative imaging, AI also has the potential to assist in surgical planning by providing (semi-)automatic segmentation of the structures of importance [219]. Various technologies are already used to register these roadmaps to the patient in the operating room, but to not overly complicate logistics, we expect that in the robotic setting, these registration technologies will eventually converge to such which are directly integrated into the robotic platforms (e.g., laparoscopic video-based and US-based registrations) [67,78]. However, due to patient deformation and repositioning, accurate registration of preoperatively acquired roadmaps remains challenging in soft-tissue anatomies.…”

Section: Discussion and Future Perspectivesmentioning

confidence: 99%

How molecular imaging will enable robotic precision surgery

Wendler

Leeuwen

Navab

et al. 2021

Eur J Nucl Med Mol Imaging

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Molecular imaging is one of the pillars of precision surgery. Its applications range from early diagnostics to therapy planning, execution, and the accurate assessment of outcomes. In particular, molecular imaging solutions are in high demand in minimally invasive surgical strategies, such as the substantially increasing field of robotic surgery. This review aims at connecting the molecular imaging and nuclear medicine community to the rapidly expanding armory of surgical medical devices. Such devices entail technologies ranging from artificial intelligence and computer-aided visualization technologies (software) to innovative molecular imaging modalities and surgical navigation (hardware). We discuss technologies based on their role at different steps of the surgical workflow, i.e., from surgical decision and planning, over to target localization and excision guidance, all the way to (back table) surgical verification. This provides a glimpse of how innovations from the technology fields can realize an exciting future for the molecular imaging and surgery communities.

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“…Fluorescent fiducials are proposed to account for intra-operative deformations in [45]. The fusion of pre-operative annotated MRI and intra-operative trans-anal ultrasound is proposed in [46]. To provide high-level information in AR, context-awareness is required.…”

Section: Augmented Realitymentioning

confidence: 99%

Autonomy in Surgical Robotics

Attanasio

Scaglioni

Momi

et al. 2021

Annu. Rev. Control Robot. Auton. Syst.

128

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This review examines the dichotomy between automatic and autonomous behaviors in surgical robots, maps the possible levels of autonomy of these robots, and describes the primary enabling technologies that are driving research in this field. It is organized in five main sections that cover increasing levels of autonomy. At level 0, where the bulk of commercial platforms are, the robot has no decision autonomy. At level 1, the robot can provide cognitive and physical assistance to the surgeon, while at level 2, it can autonomously perform a surgical task. Level 3 comes with conditional autonomy, enabling the robot to plan a task and update planning during execution. Finally, robots at level 4 can plan and execute a sequence of surgical tasks autonomously. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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A partial augmented reality system with live ultrasound and registered preoperative MRI for guiding robot-assisted radical prostatectomy

Cited by 33 publications

References 32 publications

An Improved Sensing Method of a Robotic Ultrasound System for Real-Time Force and Angle Calibration

An Improved Sensing Method of a Robotic Ultrasound System for Real-Time Force and Angle Calibration

How molecular imaging will enable robotic precision surgery

Autonomy in Surgical Robotics

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