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Arc-to-line frame registration method for ultrasound and photoacoustic image-guided intraoperative robot-assisted laparoscopic prostatectomy

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

To achieve effective robot-assisted laparoscopic prostatectomy, the integration of transrectal ultrasound (TRUS) imaging system which is the most widely used imaging modality in prostate imaging is essential. However, manual manipulation of the ultrasound transducer during the procedure will significantly interfere with the surgery. Therefore, we propose an image co-registration algorithm based on a photoacoustic marker (PM) method, where the ultrasound/photoacoustic (US/PA) images can be registered to the endoscopic camera images to ultimately enable the TRUS transducer to automatically track the surgical instrument.

Methods

An optimization-based algorithm is proposed to co-register the images from the two different imaging modalities. The principle of light propagation and an uncertainty in PM detection were assumed in this algorithm to improve the stability and accuracy of the algorithm. The algorithm is validated using the previously developed US/PA image-guided system with a da Vinci surgical robot.

Results

The target-registration-error (TRE) is measured to evaluate the proposed algorithm. In both simulation and experimental demonstration, the proposed algorithm achieved a sub-centimeter accuracy which is acceptable in practical clinics (i.e., 1.15 ± 0.29 mm from the experimental evaluation). The result is also comparable with our previous approach (i.e., 1.05 ± 0.37 mm), and the proposed method can be implemented with a normal white light stereo camera and does not require highly accurate localization of the PM.

Conclusion

The proposed frame registration algorithm enabled a simple yet efficient integration of commercial US/PA imaging system into laparoscopic surgical setting by leveraging the characteristic properties of acoustic wave propagation and laser excitation, contributing to automated US/PA image-guided surgical intervention applications.

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Acknowledgements

We would like to acknowledge to our sponsors and funding agencies: Funding from the National Science Foundation Career Award 1653322, National Institute of Health R01-CA134675, the Johns Hopkins University internal funds, Canadian Institutes of Health Research, CA Laszlo Chair in Biomedical Engineering held by Professor Salcudean, and Intuitive Surgical for the equipment support.

Funding

This work was supported in part by NSF Career Award 1653322, NIH R01-CA134675, the Johns Hopkins University internal funds, Canadian Institutes of Health Research (CIHR), CA Laszlo Chair in Biomedical Engineering held by Professor Salcudean, and an equipment loan from Intuitive Surgical, Inc.

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Authors and Affiliations

  1. Department of Computer Science, Whiting School of Engineering, The Johns Hopkins University, Baltimore, MD, 21218, USA

    Hyunwoo Song, Russell H. Taylor & Emad M. Boctor

  2. Department of Electrical and Computer Engineering, Whiting School of Engineering, The Johns Hopkins University, Baltimore, MD, 21218, USA

    Jin U. Kang

  3. Laboratory for Computational Sensing and Robotics, The Johns Hopkins University, Baltimore, MD, 21218, USA

    Hyunwoo Song, Shuojue Yang, Zijian Wu, Russell H. Taylor, Jin U. Kang & Emad M. Boctor

  4. Department of Electrical and Computer Engineering, The University of British Columbia, Vancouver, BC, V6T 1Z4, Canada

    Hamid Moradi & Septimiu E. Salcudean

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  1. Hyunwoo Song
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Correspondence to Emad M. Boctor.

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Song, H., Yang, S., Wu, Z. et al. Arc-to-line frame registration method for ultrasound and photoacoustic image-guided intraoperative robot-assisted laparoscopic prostatectomy. Int J CARS 19, 199–208 (2024). https://doi.org/10.1007/s11548-023-02984-1

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  • DOI: https://doi.org/10.1007/s11548-023-02984-1

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