Multimodal Cross-Attention Fusion of B-Mode Ultrasound and Strain Elastography for Tumor Segmentation in Robotics-Assisted Surgery.

Sara Abkhofte, Anish S Naidu, Rajni V Patel, Jayender Jagadeesan

Abstract read

In one paragraph

Article in IEEE transactions on medical robotics and bionics, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

–field-weighted citation impact

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

0 citing papers in PubMed.

No citing paper in PubMed yet.

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.

Sara AbkhofteDepartment of Electrical and Computer Engineering, Western University, London, ON, Canada, and Canadian Surgical Technologies and Advanced Robotics (CSTAR), University Hospital, London Health Sciences Centre, London, ON, Canada.

Anish S NaiduWestern University.

Rajni V PatelDepartment of Electrical and Computer Engineering, Western University, London, ON, Canada, and Canadian Surgical Technologies and Advanced Robotics (CSTAR), University Hospital, London Health Sciences Centre, London, ON, Canada.

Jayender JagadeesanDepartment of Radiology at Brigham and Women's Hospital, and the Harvard Medical School, Boston, MA 02115, USA.

Funding

TRD 3 - Enabling Technologies for Intraprocedural GuidanceP41EB028741 · NIBIB · BRIGHAM AND WOMEN'S HOSPITAL · PI Nobuhiko Hata, CLARE M TEMPANY · 2021 to 2026

$10.7M

Lung Navigation System for Localizing and Resecting NodulesR01EB025964 · NIBIB · BRIGHAM AND WOMEN'S HOSPITAL · PI BUENO, RAPHAEL, JAGADEESAN, JAYENDER · 2018 to 2021

$1.6M

NIBIB NIH HHS P41 EB028741NIBIB NIH HHS R01 EB025964

6 · The paper itself

Abstract

Robot-assisted minimally invasive surgery offers high precision and dexterity, opening up new possibilities for intraoperative imaging to improve tumor localization. B-mode ultrasound provides real-time anatomical views, while strain elastography (SE) adds tissue stiffness information. Used together, they provide complementary cues that help increase the accuracy of tumor localization by improving boundary detection. We present a robotics-integrated framework for autonomous ultrasound scanning and multimodal tumor segmentation. The system utilizes the da Vinci

Indexed as

B-mode ultrasoundCross-attentionrobotic surgerystrain elastographytumor localization

Identifiers

PMID42292980

DOI10.1109/tmrb.2026.3681001

PMCPMC13256326

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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.