ICRA 2011 Paper Abstract


Paper TuP213.1

Savarimuthu, Thiusius (Johns Hopkins University), Minnillo, Brian (Children's Hospital, Boston), Taylor, Russell H. (The Johns Hopkins University), Nguyen, Hiep (Children's Hospital, Boston), Kumar, Rajesh (Johns Hopkins University)

Visualization of Anatomical Information in Near-Infrared Imaging for Robotic Urological Surgery

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems IV" (TuP213), Tuesday, May 10, 2011, 15:25−15:40, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Medical Robots and Systems, Teleoperation, Computer Vision for Robotics and Automation


Commercial telerobotic surgery systems for soft tissue surgery are generally limited to visual imaging, though it is possible to view picture-in-picture visualization of another workstation. However, it is not easy to correlate such information with the endoscopic view since it may not relate to the surface visible in the visual endoscopic images. As critical surfaces, as well as surgical targets often lie subsurface, a range of techniques (e.g. ultrasound and near infrared imaging) and registration methods have been investigated as robotic surgery gains popularity. While investigation of nerves, blood vessels, and tumors has received prior attention, we present a system for real-time multimodal image registration that focuses on the visualization of the urinary tract. By providing an accurate registration between stereo video images and a near-infrared imager, we aim to enhance surgical awareness and make critical uretary tasks such as mobilization of the ureters easier. Experiments with a prototype imager using a phantom, and in vivo experiments using a prototype Hamamatsu Photodynamic Eye (PDE) imager together with the da Vinci stereo endoscope are presented.



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