ArticleIEEE robotics and automation letters2023
Real-time intraoperative surgical guidance system in the da Vinci surgical robot based on transrectal ultrasound/photoacoustic imaging with photoacoustic markers: an
Article in IEEE robotics and automation letters, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers.
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.
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.
Who cites it
10 citing papers in PubMed.
- Photoacoustic imaging combined with robotics: a review of current works.Biomedical optics express · 2025Review
- Non-Invasive Deep-Brain Imaging With 3D Integrated Photoacoustic Tomography and Ultrasound Localization Microscopy (3D-PAULM).IEEE transactions on medical imaging · 2025Article
- Comparison of robotic and manual scope holders in laparoscopic colorectal cancer surgery.American journal of translational research · 2025Article
- Arc-to-line frame registration method for ultrasound and photoacoustic image-guided intraoperative robot-assisted laparoscopic prostatectomy.International journal of computer assisted radiology and surgery · 2024Article
- Photoacoustic imaging plus X: a review.Journal of biomedical optics · 2024Review
- Comparison of tissue damage and inflammation for robotic laparoscopy and conventional laparoscopy in early endometrial cancer.Frontiers in medicine · 2024Article
- Automatic search for photoacoustic marker using automated transrectal ultrasound.Biomedical optics express · 2023Article
- Laparoscopic Photoacoustic Imaging System Based on Side-Illumination Diffusing Fibers.IEEE transactions on bio-medical engineering · 2023Article
- Intraoperative laparoscopic photoacoustic image guidance system in the da Vinci surgical system.Biomedical optics express · 2023Article
- Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
10 authors.
Funding
Abstract
This paper introduces the first integrated real-time intraoperative surgical guidance system, in which an endoscope camera of da Vinci surgical robot and a transrectal ultrasound (TRUS) transducer are co-registered using photoacoustic markers that are detected in both fluorescence (FL) and photoacoustic (PA) imaging. The co-registered system enables the TRUS transducer to track the laser spot illuminated by a pulsed-laser-diode attached to the surgical instrument, providing both FL and PA images of the surgical region-of-interest (ROI). As a result, the generated photoacoustic marker is visualized and localized in the da Vinci endoscopic FL images, and the corresponding tracking can be conducted by rotating the TRUS transducer to display the PA image of the marker. A quantitative evaluation revealed that the average registration and tracking errors were 0.84 mm and 1.16°, respectively. This study shows that the co-registered photoacoustic marker tracking can be effectively deployed intraoperatively using TRUS+PA imaging providing functional guidance of the surgical ROI.
Indexed as
Identifiers
What OpenQuestion holds
Registered trials
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.