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In this paper we develop a surgical system using the da Vinci research kit(dVRK) that is capable of autonomously searching for tumors and dynamicallydisplaying the tumor location using augmented reality. Such a system has thepotential to quickly reveal the location and shape of tumors and visuallyoverlay that information to reduce the cognitive overload of the surgeon. Webelieve that our approach is one of the first to incorporate state-of-the-artmethods in registration, force sensing and tumor localization into a unifiedsurgical system. First, the preoperative model is registered to theintra-operative scene using a Bingham distribution-based filtering approach. Anactive level set estimation is then used to find the location and the shape ofthe tumors. We use a recently developed miniature force sensor to perform thepalpation. The estimated stiffness map is then dynamically overlaid onto theregistered preoperative model of the organ. We demonstrate the efficacy of oursystem by performing experiments on phantom prostate models with embedded stiffinclusions.

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