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 publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages2412-2417
Number of pages6
DOIs
StatePublished - Dec 1 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

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

ASJC Scopus subject areas

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

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  • 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 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 2412-2417). [5979955] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5979955