Real-Time Intraoperative Surgical Guidance System in the da Vinci Surgical Robot Based on Transrectal Ultrasound/Photoacoustic Imaging With Photoacoustic Markers: An Ex Vivo Demonstration.
Hyunwoo SongHamid MoradiBai-Chuan JiangKeshuai XuYixuan WuRussell H. TaylorAnton DeguetJin U. KangSeptimiu E. SalcudeanEmad M. BoctorPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- tissue deformation
- intraoperative
- minimally invasive surgery
- minimally invasive
- image guided
- prostate brachytherapy
- clinical applications
- computer assisted
- x ray
- image guided surgery
- transrectal ultrasound
- robot assisted
- real time
- pre operative
- target registration error
- patient data
- surgical procedures
- soft tissue
- ct data
- imaging modalities
- needle insertion
- degrees of freedom
- medical imaging
- operating room
- finite element
- computer aided
- deformable models
- image analysis
- subject specific
- fluoroscopic images
- augmented reality
- three dimensional
- prostate cancer