A surgical system for automatic registration, stiffness mapping and dynamic image overlay

In this paper we develop a surgical system using the da Vinci research kit (dVRK) that is capable of autonomously searching for tumors and dynamically displaying the tumor location using augmented reality. Such a system has the potential to quickly reveal the location and shape of tumors and visually overlay that information to reduce the cognitive overload of the surgeon. We believe that our approach is one of the first to incorporate state-of-the-art methods in registration, force sensing and tumor localization into a unified surgical system. First, the preoperative model is registered to the intra-operative scene using a Bingham distribution-based filtering approach. An active level set estimation is then used to find the location and the shape of the tumors. We use a recently developed miniature force sensor to perform the palpation. The estimated stiffness map is then dynamically overlaid onto the registered preoperative model of the organ. We demonstrate the efficacy of our system by performing experiments on phantom prostate models with embedded stiff inclusions.Comment: International Symposium on Medical Robotics (ISMR 2018

Securing Interactive Sessions Using Mobile Device through Visual Channel and Visual Inspection

Communication channel established from a display to a device's camera is known as visual channel, and it is helpful in securing key exchange protocol. In this paper, we study how visual channel can be exploited by a network terminal and mobile device to jointly verify information in an interactive session, and how such information can be jointly presented in a user-friendly manner, taking into account that the mobile device can only capture and display a small region, and the user may only want to authenticate selective regions-of-interests. Motivated by applications in Kiosk computing and multi-factor authentication, we consider three security models: (1) the mobile device is trusted, (2) at most one of the terminal or the mobile device is dishonest, and (3) both the terminal and device are dishonest but they do not collude or communicate. We give two protocols and investigate them under the abovementioned models. We point out a form of replay attack that renders some other straightforward implementations cumbersome to use. To enhance user-friendliness, we propose a solution using visual cues embedded into the 2D barcodes and incorporate the framework of "augmented reality" for easy verifications through visual inspection. We give a proof-of-concept implementation to show that our scheme is feasible in practice.Comment: 16 pages, 10 figure

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions