Photoacoustic-based approach to surgical guidance performed with and without a da Vinci robot

Neeraj Gandhi; Margaret Allard; Sungmin Kim; Peter Kazanzides; Muyinatu A. Lediju Bell

doi:10.1117/1.JBO.22.12.121606

24 August 2017 Photoacoustic-based approach to surgical guidance performed with and without a da Vinci robot

Neeraj Gandhi, Margaret Allard, Sungmin Kim, Peter Kazanzides, Muyinatu A. Lediju Bell

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Journal of Biomedical Optics, Vol. 22, Issue 12, 121606 (August 2017). https://doi.org/10.1117/1.JBO.22.12.121606

Abstract

Death and paralysis are significant risks of modern surgeries, caused by injury to blood vessels and nerves hidden by bone and other tissue. We propose an approach to surgical guidance that relies on photoacoustic (PA) imaging to determine the separation between these critical anatomical features and to assess the extent of safety zones during surgical procedures. Images were acquired as an optical fiber was swept across vessel-mimicking targets, in the absence and presence of teleoperation with a research da Vinci Surgical System. Vessel separation distances were measured directly from PA images. Vessel positions were additionally recorded based on the fiber position (calculated from the da Vinci robot kinematics) that corresponded to an observed PA signal, and these recordings were used to indirectly measure vessel separation distances. Amplitude- and coherence-based beamforming were used to estimate vessel separations, resulting in 0.52- to 0.56-mm mean absolute errors, 0.66- to 0.71-mm root-mean-square errors, and 65% to 68% more accuracy compared to fiber position measurements obtained through the da Vinci robot kinematics. Similar accuracy was achieved in the presence of up to 4.5-mm-thick ex vivo tissue. Results indicate that PA image-based measurements of the separation among anatomical landmarks could be a viable method for real-time path planning in multiple interventional PA applications.

CC BY: © The Authors. Published by SPIE under a Creative Commons Attribution 4.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.

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Neeraj Gandhi, Margaret Allard, Sungmin Kim, Peter Kazanzides, and Muyinatu A. Lediju Bell "Photoacoustic-based approach to surgical guidance performed with and without a da Vinci robot," Journal of Biomedical Optics 22(12), 121606 (24 August 2017). https://doi.org/10.1117/1.JBO.22.12.121606

Received: 25 April 2017; Accepted: 28 July 2017; Published: 24 August 2017

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