Laparoscopic photoacoustic imaging system integrated with the da Vinci surgical system

Shang Gao; Yang Wang; Haoying Zhou; Kehan Yang; Yiwei Jiang; Liang Lu; Shiyue Wang; Xihan Ma; Benjamin C. Nephew; Loris Fichera; Gregory S. Fischer; Haichong K. Zhang

doi:10.1117/12.2653967

3 April 2023 Laparoscopic photoacoustic imaging system integrated with the da Vinci surgical system

Shang Gao, Yang Wang, Haoying Zhou, Kehan Yang, Yiwei Jiang, Liang Lu, Shiyue Wang, Xihan Ma, Benjamin C. Nephew, Loris Fichera, Gregory S. Fischer, Haichong K. Zhang

Author Affiliations +

Proceedings Volume 12466, Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling; 1246609 (2023) https://doi.org/10.1117/12.2653967
Event: SPIE Medical Imaging, 2023, San Diego, California, United States

Abstract

This paper presents the design, fabrication, and experimental validation of a photoacoustic (PA) imaging probe for robotic surgery. PA is an emerging imaging modality that combines the high penetration of ultrasound (US) imaging with high optical contrast. When equipped with a PA probe, a surgical robot can provide intraoperative guidance to the operating physician, alerting them of the presence of vital substrate anatomy (e.g., nerves or blood vessels) invisible to the naked eye. Our probe is designed to work with the da Vinci surgical system to produce three-dimensional PA images: We propose an approach wherein the robot provides Remote Center-of-Motion (RCM) scanning across a region of interest, and successive PA tomographic images are acquired and interpolated to produce a three-dimensional PA image. To demonstrate the accuracy of the PA guidance in scanning 3D tomography actuated by the robot, we conducted an experimental study that involved the imaging of a multi-layer wire phantom. The computed Target Registration Error (TRE) between the acquired PA image and the phantom was 1.5567±1.3605 mm. The ex vivo study demonstrated the function of the proposed laparoscopic device in 3D vascular detection. These results indicate the potential of our PA system to be incorporated into clinical robotic surgery for functional anatomical guidance.

Conference Presentation

Citation Download Citation

Shang Gao, Yang Wang, Haoying Zhou, Kehan Yang, Yiwei Jiang, Liang Lu, Shiyue Wang, Xihan Ma, Benjamin C. Nephew, Loris Fichera, Gregory S. Fischer, and Haichong K. Zhang "Laparoscopic photoacoustic imaging system integrated with the da Vinci surgical system", Proc. SPIE 12466, Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling, 1246609 (3 April 2023); https://doi.org/10.1117/12.2653967

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