3 March 2017 Accuracy of a novel photoacoustic-based approach to surgical guidance performed with and without a da Vinci robot
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Abstract
Minimally invasive surgery carries the deadly risk of rupturing major blood vessels, such as the internal carotid arteries hidden by bone in endonasal transsphenoidal surgery. We propose a novel approach to surgical guidance that relies on photoacoustic-based vessel separation measurements to assess the extent of safety zones during these type of surgical procedures. This approach can be implemented with or without a robot or navigation system. To determine the accuracy of this approach, a custom phantom was designed and manufactured for modular placement of two 3.18-mm diameter vessel-mimicking targets separated by 10-20 mm. Photoacoustic images were acquired as the optical fiber was swept across the vessels in the absence and presence of teleoperation with a research da Vinci Surgical System. When the da Vinci was used, vessel positions were recorded based on the fiber position (calculated from the robot kinematics) that corresponded to an observed photoacoustic signal. In all cases, compounded photoacoustic data from a single sweep displayed the four vessel boundaries in one image. Amplitude- and coherence-based photoacoustic images were used to estimate vessel separations, resulting in 0.52-0.56 mm mean absolute errors, 0.66-0.71 mm root mean square errors, and 65-68% more accuracy compared to fiber position measurements obtained through the da Vinci robot kinematics. Results indicate that with further development, photoacoustic image-based measurements of anatomical landmarks could be a viable method for real-time path planning in multiple interventional photoacoustic applications.
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Neeraj Gandhi, Sungmin Kim, Peter Kazanzides, Muyinatu A. Lediju Bell, "Accuracy of a novel photoacoustic-based approach to surgical guidance performed with and without a da Vinci robot ", Proc. SPIE 10064, Photons Plus Ultrasound: Imaging and Sensing 2017, 100642V (3 March 2017); doi: 10.1117/12.2253532; https://doi.org/10.1117/12.2253532
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