Arc-to-line frame registration method for ultrasound and photoacoustic image-guided intraoperative robot-assisted laparoscopic prostatectomy

TL;DR

This paper presents an optimization-based image registration algorithm that aligns ultrasound and photoacoustic images with endoscopic camera images, enabling automated tracking in robot-assisted laparoscopic prostatectomy.

Contribution

It introduces a novel registration method leveraging light propagation principles and uncertainty modeling, compatible with standard stereo cameras, for improved surgical guidance.

Findings

Achieved sub-centimeter registration accuracy in simulations and experiments.

Compatible with normal stereo cameras, no need for precise marker localization.

Facilitates automated US/PA image-guided surgical interventions.

Abstract

Purpose: To achieve effective robot-assisted laparoscopic prostatectomy, the integration of transrectal ultrasound (TRUS) imaging system which is the most widely used imaging modelity in prostate imaging is essential. However, manual manipulation of the ultrasound transducer during the procedure will significantly interfere with the surgery. Therefore, we propose an image co-registration algorithm based on a photoacoustic marker method, where the ultrasound / photoacoustic (US/PA) images can be registered to the endoscopic camera images to ultimately enable the TRUS transducer to automatically track the surgical instrument Methods: An optimization-based algorithm is proposed to co-register the images from the two different imaging modalities. The principles of light propagation and an uncertainty in PM detection were assumed in this algorithm to improve the stability and accuracy of the algorithm. The algorithm is validated using the previously developed US/PA image-guided system with a da Vinci surgical robot. Results: The target-registration-error (TRE) is measured to evaluate the proposed algorithm. In both simulation and experimental demonstration, the proposed algorithm achieved a sub-centimeter accuracy which is acceptable in practical clinics. The result is also comparable with our previous approach, and the proposed method can be implemented with a normal white light stereo camera and doesn't require highly accurate localization of the PM. Conclusion: The proposed frame registration algorithm enabled a simple yet efficient integration of commercial US/PA imaging system into laparoscopic surgical setting by leveraging the characteristic properties of acoustic wave propagation and laser excitation, contributing to automated US/PA image-guided surgical intervention applications.