ArticleInternational journal of computer assisted radiology and surgery2020
Evaluation of a marker-less, intra-operative, augmented reality guidance system for robot-assisted laparoscopic radical prostatectomy.
Article in International journal of computer assisted radiology and surgery, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed, 14 citations in OpenAlex.
- A bibliometric analysis of augmented reality and mixed reality applied in minimally invasive surgery.Journal of robotic surgery · 2025Review
- A deep learning framework for real-time 3D model registration in robot-assisted laparoscopic surgery.The international journal of medical robotics + computer assisted surgery : MRCAS · 2022Article
- Perioperative Nursing of Vitrectomy for Ocular Trauma under the Guidance of Ophthalmoscope.Contrast media & molecular imaging · 2022Article
- Accuracy of Robotic-Assisted Spinal Surgery-Comparison to TJR Robotics, da Vinci Robotics, and Optoelectronic Laboratory Robotics.International journal of spine surgery · 2021Article
- Preclinical evaluation of a markerless, real-time, augmented reality guidance system for robot-assisted radical prostatectomy.International journal of computer assisted radiology and surgery · 2021Article
- Augmenting efficient real-time surgical instrument segmentation in video with point tracking and Segment Anything.Healthcare technology lettersArticle
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Authors and funding
6 authors at 2 institutions in 2 countries.
Funding
Abstract
purposeRobot-assisted laparoscopic radical prostatectomy (RALRP) using the da Vinci surgical robot is a common treatment for organ-confined prostate cancer. Augmented reality (AR) can help during RALRP by showing the surgeon the location of anatomical structures and tumors from preoperative imaging. Previously, we proposed hand-eye and camera intrinsic matrix estimation procedures that can be carried out with conventional instruments within the patient during surgery, take < 3 min to perform, and fit seamlessly in the existing surgical workflow. In this paper, we describe and evaluate a complete AR guidance system for RALRP and quantify its accuracy.
methodsOur AR system requires three transformations: the transrectal ultrasound (TRUS) to da Vinci transformation, the camera intrinsic matrix, and the hand-eye transformation. For evaluation, a 3D-printed cross-wire was visualized in TRUS and stereo endoscope in a water bath. Manually triangulated cross-wire points from stereo images were used as ground truth to evaluate overall TRE between these points and points transformed from TRUS to camera.
resultsAfter transforming the ground-truth points from the TRUS to the camera coordinate frame, the mean target registration error (TRE) (SD) was [Formula: see text] mm. The mean TREs (SD) in the x-, y-, and z-directions are [Formula: see text] mm, [Formula: see text] mm, and [Formula: see text] mm, respectively.
conclusionsWe describe and evaluate a complete AR guidance system for RALRP which can augment preoperative data to endoscope camera image, after a deformable magnetic resonance image to TRUS registration step. The streamlined procedures with current surgical workflow and low TRE demonstrate the compatibility and readiness of the system for clinical translation. A detailed sensitivity study remains part of future work.
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