Visualization of anatomical information in near-infrared imaging for robotic urological surgery

Thiusius R. Savarimuthu, Brian Minnillo, Russell H Taylor, Hiep Nguyen, Rajesh Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Commercial telerobotic surgery systems for soft tissue surgery are generally limited to visual imaging, though it is possible to simultaneously view picture-in-picture visualization of another workstation. However, it is not easy to correlate such information with the primary endoscopic view since it may not relate to the surface visible in the visual endoscopic images. As critical surfaces as well as surgical targets often lie subsurface, a range of techniques (e.g. ultrasound and near-infrared imaging) and registration methods have been investigated as robotic surgery gains popularity. While investigation of nerves, blood vessels, and tumors has received prior attention, we present a new prototype system for real-time multimodal image registration that focuses on the visualization of the urinary tract. By providing an accurate registration between stereo video images and a near infrared imager, we aim to enhance surgical awareness and make critical uretary tasks such as mobilization of the ureters easier. Engineering validation experiments with a prototype imager, and in-vivo experiments using a prototype Hamamatsu Photodynamic Eye (PDE) imager together with the da Vinci surgical system demonstrating feasibility are presented. These initial experiments have also shown encouraging response from the clinicians.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2412-2417
Number of pages6
DOIs
StatePublished - 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

Fingerprint

Infrared imaging
Image sensors
Visualization
Surgery
Experiments
Image registration
Blood vessels
Tumors
Ultrasonics
Tissue
Infrared radiation
Imaging techniques
Robotic surgery

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Savarimuthu, T. R., Minnillo, B., Taylor, R. H., Nguyen, H., & Kumar, R. (2011). Visualization of anatomical information in near-infrared imaging for robotic urological surgery. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2412-2417). [5979955] https://doi.org/10.1109/ICRA.2011.5979955

Visualization of anatomical information in near-infrared imaging for robotic urological surgery. / Savarimuthu, Thiusius R.; Minnillo, Brian; Taylor, Russell H; Nguyen, Hiep; Kumar, Rajesh.

Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 2412-2417 5979955.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Savarimuthu, TR, Minnillo, B, Taylor, RH, Nguyen, H & Kumar, R 2011, Visualization of anatomical information in near-infrared imaging for robotic urological surgery. in Proceedings - IEEE International Conference on Robotics and Automation., 5979955, pp. 2412-2417, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 5/9/11. https://doi.org/10.1109/ICRA.2011.5979955
Savarimuthu TR, Minnillo B, Taylor RH, Nguyen H, Kumar R. Visualization of anatomical information in near-infrared imaging for robotic urological surgery. In Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 2412-2417. 5979955 https://doi.org/10.1109/ICRA.2011.5979955
Savarimuthu, Thiusius R. ; Minnillo, Brian ; Taylor, Russell H ; Nguyen, Hiep ; Kumar, Rajesh. / Visualization of anatomical information in near-infrared imaging for robotic urological surgery. Proceedings - IEEE International Conference on Robotics and Automation. 2011. pp. 2412-2417
@inproceedings{4d208a678631410c8b3b9e6f9c2db332,
title = "Visualization of anatomical information in near-infrared imaging for robotic urological surgery",
abstract = "Commercial telerobotic surgery systems for soft tissue surgery are generally limited to visual imaging, though it is possible to simultaneously view picture-in-picture visualization of another workstation. However, it is not easy to correlate such information with the primary endoscopic view since it may not relate to the surface visible in the visual endoscopic images. As critical surfaces as well as surgical targets often lie subsurface, a range of techniques (e.g. ultrasound and near-infrared imaging) and registration methods have been investigated as robotic surgery gains popularity. While investigation of nerves, blood vessels, and tumors has received prior attention, we present a new prototype system for real-time multimodal image registration that focuses on the visualization of the urinary tract. By providing an accurate registration between stereo video images and a near infrared imager, we aim to enhance surgical awareness and make critical uretary tasks such as mobilization of the ureters easier. Engineering validation experiments with a prototype imager, and in-vivo experiments using a prototype Hamamatsu Photodynamic Eye (PDE) imager together with the da Vinci surgical system demonstrating feasibility are presented. These initial experiments have also shown encouraging response from the clinicians.",
author = "Savarimuthu, {Thiusius R.} and Brian Minnillo and Taylor, {Russell H} and Hiep Nguyen and Rajesh Kumar",
year = "2011",
doi = "10.1109/ICRA.2011.5979955",
language = "English (US)",
isbn = "9781612843865",
pages = "2412--2417",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

TY - GEN

T1 - Visualization of anatomical information in near-infrared imaging for robotic urological surgery

AU - Savarimuthu, Thiusius R.

AU - Minnillo, Brian

AU - Taylor, Russell H

AU - Nguyen, Hiep

AU - Kumar, Rajesh

PY - 2011

Y1 - 2011

N2 - Commercial telerobotic surgery systems for soft tissue surgery are generally limited to visual imaging, though it is possible to simultaneously view picture-in-picture visualization of another workstation. However, it is not easy to correlate such information with the primary endoscopic view since it may not relate to the surface visible in the visual endoscopic images. As critical surfaces as well as surgical targets often lie subsurface, a range of techniques (e.g. ultrasound and near-infrared imaging) and registration methods have been investigated as robotic surgery gains popularity. While investigation of nerves, blood vessels, and tumors has received prior attention, we present a new prototype system for real-time multimodal image registration that focuses on the visualization of the urinary tract. By providing an accurate registration between stereo video images and a near infrared imager, we aim to enhance surgical awareness and make critical uretary tasks such as mobilization of the ureters easier. Engineering validation experiments with a prototype imager, and in-vivo experiments using a prototype Hamamatsu Photodynamic Eye (PDE) imager together with the da Vinci surgical system demonstrating feasibility are presented. These initial experiments have also shown encouraging response from the clinicians.

AB - Commercial telerobotic surgery systems for soft tissue surgery are generally limited to visual imaging, though it is possible to simultaneously view picture-in-picture visualization of another workstation. However, it is not easy to correlate such information with the primary endoscopic view since it may not relate to the surface visible in the visual endoscopic images. As critical surfaces as well as surgical targets often lie subsurface, a range of techniques (e.g. ultrasound and near-infrared imaging) and registration methods have been investigated as robotic surgery gains popularity. While investigation of nerves, blood vessels, and tumors has received prior attention, we present a new prototype system for real-time multimodal image registration that focuses on the visualization of the urinary tract. By providing an accurate registration between stereo video images and a near infrared imager, we aim to enhance surgical awareness and make critical uretary tasks such as mobilization of the ureters easier. Engineering validation experiments with a prototype imager, and in-vivo experiments using a prototype Hamamatsu Photodynamic Eye (PDE) imager together with the da Vinci surgical system demonstrating feasibility are presented. These initial experiments have also shown encouraging response from the clinicians.

UR - http://www.scopus.com/inward/record.url?scp=84871703751&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84871703751&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2011.5979955

DO - 10.1109/ICRA.2011.5979955

M3 - Conference contribution

AN - SCOPUS:84871703751

SN - 9781612843865

SP - 2412

EP - 2417

BT - Proceedings - IEEE International Conference on Robotics and Automation

ER -