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First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping.

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    This study introduces a novel gamma probe for robotic surgery, enabling real-time intra-operative imaging during minimally invasive procedures. The system achieved high accuracy for augmented-reality image guidance in gynecological sentinel lymph node interventions.

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    Area of Science:

    • Medical Imaging
    • Robotic Surgery
    • Nuclear Medicine

    Background:

    • Minimally invasive surgery requires advanced tools for precise localization.
    • Intra-operative imaging enhances surgical accuracy and patient outcomes.
    • Robotic systems offer improved dexterity and control in complex procedures.

    Purpose of the Study:

    • To present a drop-in gamma probe for intra-operative Single-Photon Emission Computed Tomography (SPECT) imaging.
    • To enable augmented-reality image guidance in robot-assisted interventions.
    • To evaluate the probe's performance in gynecological sentinel lymph node interventions.

    Main Methods:

    • A drop-in gamma probe was designed for intra-operative use within the abdominal cavity.
    • The probe was integrated with a robotic laparoscopic gripper for surgeon control.
    • Hybrid mechanical and image-based tracking was employed for probe localization.
    • System performance was validated using a phantom for gynecological sentinel lymph node interventions.

    Main Results:

    • The hybrid probe tracking achieved an accuracy of 0.2 mm.
    • The system demonstrated successful intra-operative in-patient robotic SPECT imaging.
    • Mean reconstruction accuracy of 0.67 mm was achieved when compared to ground-truth data.

    Conclusions:

    • The developed gamma probe is effective for intra-operative SPECT imaging in robotic surgery.
    • The system provides accurate augmented-reality image guidance for minimally invasive interventions.
    • This technology holds promise for improving precision in gynecological procedures.