Evidence map›Paper›PMID 34076803›Full record

ArticleInternational journal of computer assisted radiology and surgery2021

Preclinical evaluation of a markerless, real-time, augmented reality guidance system for robot-assisted radical prostatectomy.

Megha Kalia, Apeksha Avinash, Nassir Navab, Septimiu Salcudean

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In one paragraph

Article in International journal of computer assisted radiology and surgery, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers, 1 of them a synthesis that pooled it.

0numbers the graph read from it
0cells of the map it votes in
4citing papers in PubMed, 1 pooled it
1.4field-weighted citation impact, top 17% of its field
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

4 citing papers in PubMed, 1 synthesis or guideline pooled it, 18 citations in OpenAlex.

  1. Pooled it
  2. An augmented reality overlay for navigated prostatectomy using fiducial-free 2D-3D registration.International journal of computer assisted radiology and surgery · 2025
    Article
  3. A Safe Framework for Quantitative In Vivo Human Evaluation of Image Guidance.IEEE open journal of engineering in medicine and biology · 2024
    Article
  4. Towards transcervical ultrasound image guidance for transoral robotic surgery.International journal of computer assisted radiology and surgery · 2023
    Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

4 authors at 2 institutions in 2 countries.

Megha KaliaElectrical and Computer Engineering, University of British Columbia, 2329 West Mall, Vancouver, BC, V6T 1Z4, Canada. mkalia@ece.ubc.ca.ORCID http://orcid.org/0000-0001-8920-6272
Apeksha AvinashElectrical and Computer Engineering, University of British Columbia, 2329 West Mall, Vancouver, BC, V6T 1Z4, Canada.
Nassir NavabComputer Aided Medical Procedures, Technical University of Munich Boltzmannstraße 15, 85748, Garching bei Múnchen, Germany.
Septimiu SalcudeanElectrical and Computer Engineering, University of British Columbia, 2329 West Mall, Vancouver, BC, V6T 1Z4, Canada.
University of British Columbia · CATechnical University of Munich · DE

Funding

CIHR MOP-1422439
6 · The paper itself

Abstract

purposeIntra-operative augmented reality (AR) during surgery can mitigate incomplete cancer removal by overlaying the anatomical boundaries extracted from medical imaging data onto the camera image. In this paper, we present the first such completely markerless AR guidance system for robot-assisted laparoscopic radical prostatectomy (RALRP) that transforms medical data from transrectal ultrasound (TRUS) to endoscope camera image. Moreover, we reduce the total number of transformations by combining the hand-eye and camera calibrations in a single step.

methodsOur proposed solution requires two transformations: TRUS to robot, [Formula: see text], and camera projection matrix, [Formula: see text] (i.e., the transformation from endoscope to camera image frame). [Formula: see text] is estimated by the method proposed in Mohareri et al. (in J Urol 193(1):302-312, 2015). [Formula: see text] is estimated by selecting corresponding 3D-2D data points in the endoscope and the image coordinate frame, respectively, by using a CAD model of the surgical instrument and a preoperative camera intrinsic matrix with an assumption of a projective camera. The parameters are estimated using Levenberg-Marquardt algorithm. Overall mean re-projection errors (MRE) are reported using simulated and real data using a water bath. We show that [Formula: see text] can be re-estimated if the focus is changed during surgery.

resultsUsing simulated data, we received an overall MRE in the range of 11.69-13.32 pixels for monoscopic and stereo left and right cameras. For the water bath experiment, the overall MRE is in the range of 26.04-30.59 pixels for monoscopic and stereo cameras. The overall system error from TRUS to camera world frame is 4.05 mm. Details of the procedure are given in supplementary material.

conclusionWe demonstrate a markerless AR guidance system for RALRP that does not need calibration markers and thus has the capability to re-estimate the camera projection matrix if it changes during surgery, e.g., due to a focus change.

Indexed as

AlgorithmsAugmented RealityComputer SystemsEquipment DesignEquipment FailureHumansImaging, Three-DimensionalMaleProstateProstatectomyRoboticsSurgery, Computer-AssistedUltrasonographyMarkerless camera projection matrix estimationRobot-assisted radical prostatectomySurgical augmented reality

Identifiers

PMID34076803
OpenAlexW3164318473

What OpenQuestion holds

Textmetadata
Read underepoch 390

Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.