{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T18:59:11Z","timestamp":1770749951073,"version":"3.50.0"},"reference-count":29,"publisher":"Springer Science and Business Media LLC","issue":"7","license":[{"start":{"date-parts":[[2020,5,8]],"date-time":"2020-05-08T00:00:00Z","timestamp":1588896000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2020,5,8]],"date-time":"2020-05-08T00:00:00Z","timestamp":1588896000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"name":"Wellcome\/EPSRC","award":["203145Z\/16\/Z"],"award-info":[{"award-number":["203145Z\/16\/Z"]}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/P027938\/1"],"award-info":[{"award-number":["EP\/P027938\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/R004080\/1"],"award-info":[{"award-number":["EP\/R004080\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/P012841\/1"],"award-info":[{"award-number":["EP\/P012841\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000287","name":"Royal Academy of Engineering","doi-asserted-by":"crossref","award":["CiET1819_2_36"],"award-info":[{"award-number":["CiET1819_2_36"]}],"id":[{"id":"10.13039\/501100000287","id-type":"DOI","asserted-by":"crossref"}]},{"name":"UCL Innovation and Enterprise","award":["EP\/R511638\/1"],"award-info":[{"award-number":["EP\/R511638\/1"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J CARS"],"published-print":{"date-parts":[[2020,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:sec>\n                <jats:title>Purpose<\/jats:title>\n                <jats:p>In robotic-assisted partial nephrectomy (RAPN), the use of intraoperative ultrasound (IOUS) helps to localise and outline the tumours as well as the blood vessels within the kidney. The aim of this work is to evaluate the use of the pneumatically attachable flexible (PAF) rail system for US 3D reconstruction of malignant masses in RAPN. The PAF rail system is a novel device developed and previously presented by the authors to enable track-guided US scanning.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Methods<\/jats:title>\n                <jats:p>We present a comparison study between US 3D reconstruction of masses based on: the da Vinci Surgical System kinematics, single- and stereo-camera tracking of visual markers embedded on the probe. An US-realistic kidney phantom embedding a mass is used for testing. A new design for the US probe attachment to enhance the performance of the kinematic approach is presented. A feature extraction algorithm is proposed to detect the margins of the targeted mass in US images.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Results<\/jats:title>\n                <jats:p>To evaluate the performance of the investigated approaches the resulting 3D reconstructions have been compared to a CT scan of the phantom. The data collected indicates that single camera reconstruction outperformed the other approaches, reconstructing with a sub-millimetre accuracy the targeted mass.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Conclusions<\/jats:title>\n                <jats:p>This work demonstrates that the PAF rail system provides a reliable platform to enable accurate US 3D reconstruction of masses in RAPN procedures. The proposed system has also the potential to be employed in other surgical procedures such as hepatectomy or laparoscopic liver resection.<\/jats:p>\n              <\/jats:sec>","DOI":"10.1007\/s11548-020-02149-4","type":"journal-article","created":{"date-parts":[[2020,5,8]],"date-time":"2020-05-08T07:02:42Z","timestamp":1588921362000},"page":"1147-1155","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Ultrasound 3D reconstruction of malignant masses in robotic-assisted partial nephrectomy using the PAF rail system: a comparison study"],"prefix":"10.1007","volume":"15","author":[{"given":"Chongyun","family":"Wang","sequence":"first","affiliation":[]},{"given":"Charalampos","family":"Komninos","sequence":"additional","affiliation":[]},{"given":"Stephanie","family":"Andersen","sequence":"additional","affiliation":[]},{"given":"Claudia","family":"D\u2019Ettorre","sequence":"additional","affiliation":[]},{"given":"George","family":"Dwyer","sequence":"additional","affiliation":[]},{"given":"Efthymios","family":"Maneas","sequence":"additional","affiliation":[]},{"given":"Philip","family":"Edwards","sequence":"additional","affiliation":[]},{"given":"Adrien","family":"Desjardins","sequence":"additional","affiliation":[]},{"given":"Agostino","family":"Stilli","sequence":"additional","affiliation":[]},{"given":"Danail","family":"Stoyanov","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2020,5,8]]},"reference":[{"issue":"4","key":"2149_CR1","doi-asserted-by":"publisher","first-page":"896","DOI":"10.1016\/j.urology.2008.11.040","volume":"73","author":"L-M Su","year":"2009","unstructured":"Su L-M, Vagvolgyi BP, Agarwal R, Reiley CE, Taylor RH, Hager GD (2009) Augmented reality during robot-assisted laparoscopic partial nephrectomy: toward real-time 3D-CT to stereoscopic video registration. Urology 73(4):896\u2013900","journal-title":"Urology"},{"issue":"3","key":"2149_CR2","doi-asserted-by":"publisher","first-page":"773","DOI":"10.1016\/S0022-5347(05)66523-8","volume":"165","author":"WB Shingleton","year":"2001","unstructured":"Shingleton WB, Sewell PE (2001) Percutaneous renal tumor cryoablation with magnetic resonance imaging guidance. J Urol 165(3):773\u2013776","journal-title":"J Urol"},{"issue":"2","key":"2149_CR3","doi-asserted-by":"publisher","first-page":"172","DOI":"10.1111\/j.1442-2042.2012.03127.x","volume":"20","author":"BF Kaczmarek","year":"2013","unstructured":"Kaczmarek BF, Sukumar S, Petros F, Trinh QD, Mander N, Chen R, Menon M, Rogers CG (2013) Robotic ultrasound probe for tumor identification in robotic partial nephrectomy: initial series and outcomes. Int J Urol 20(2):172\u2013176","journal-title":"Int J Urol"},{"issue":"3","key":"2149_CR4","doi-asserted-by":"publisher","first-page":"468","DOI":"10.1016\/S0039-6060(96)80065-1","volume":"120","author":"H Kaneko","year":"1996","unstructured":"Kaneko H, Takagi S, Shiba T (1996) Laparoscopic partial hepatectomy and left lateral segmentectomy: technique and results of a clinical series. Surgery 120(3):468\u2013475","journal-title":"Surgery"},{"issue":"5","key":"2149_CR5","doi-asserted-by":"publisher","first-page":"799","DOI":"10.1016\/j.eururo.2019.02.011","volume":"75","author":"B Ljungberg","year":"2019","unstructured":"Ljungberg B, Albiges L, Abu-Ghanem Y, Bensalah K, Dabestani S, Fern\u00e1ndez-Pello S, Giles RH, Hofmann F, Hora M, Kuczyk MA (2019) European association of urology guidelines on renal cell carcinoma: the 2019 update. Eur Urol 75(5):799\u2013810","journal-title":"Eur Urol"},{"issue":"4","key":"2149_CR6","doi-asserted-by":"publisher","first-page":"246","DOI":"10.14366\/usg.15014","volume":"34","author":"I Joo","year":"2015","unstructured":"Joo I (2015) The role of intraoperative ultrasonography in the diagnosis and management of focal hepatic lesions. Ultrasonography 34(4):246","journal-title":"Ultrasonography"},{"issue":"4","key":"2149_CR7","doi-asserted-by":"publisher","first-page":"279","DOI":"10.1007\/s11701-007-0055-5","volume":"1","author":"SB Bhayani","year":"2008","unstructured":"Bhayani SB (2008) Da Vinci robotic partial nephrectomy for renal cell carcinoma: an atlas of the four-arm technique. J Robot Surg 1(4):279\u2013285","journal-title":"J Robot Surg"},{"key":"2149_CR8","unstructured":"KidneyRobotics (2014) Intraoperative ultrasound (Step 6) during 4-arm robotic partial nephrectomy. Youtube. https:\/\/www.youtube.com\/watch?v=OtJRG9omdE0. Accessed 06 Nov 2019"},{"key":"2149_CR9","unstructured":"Medical BK (2013) RAPN by Michael Stifelman, MD. Youtube. https:\/\/www.youtube.com\/watch?v=kwDu6cI4Thw. Accessed 10 May 2019"},{"issue":"3","key":"2149_CR10","doi-asserted-by":"publisher","first-page":"671","DOI":"10.1016\/j.eururo.2013.11.001","volume":"65","author":"A Hughes-Hallett","year":"2014","unstructured":"Hughes-Hallett A, Pratt P, Mayer E, Di Marco A, Yang G, Vale J, Darzi A (2014) Intraoperative ultrasound overlay in robot-assisted partial nephrectomy: first clinical experience. Eur Urol 65(3):671","journal-title":"Eur Urol"},{"issue":"2","key":"2149_CR11","doi-asserted-by":"publisher","first-page":"337","DOI":"10.1007\/s00464-011-1872-1","volume":"26","author":"JEF Fitzgerald","year":"2012","unstructured":"Fitzgerald JEF, Malik M, Ahmed I (2012) A single-blind controlled study of electrocautery and ultrasonic scalpel smoke plumes in laparoscopic surgery. Surg Endosc 26(2):337\u2013342","journal-title":"Surg Endosc"},{"issue":"5","key":"2149_CR12","doi-asserted-by":"publisher","first-page":"R67","DOI":"10.1088\/0031-9155\/46\/5\/201","volume":"46","author":"A Fenster","year":"2001","unstructured":"Fenster A, Downey DB, Cardinal HN (2001) Three-dimensional ultrasound imaging. Phys Med Biol 46(5):R67","journal-title":"Phys Med Biol"},{"key":"2149_CR13","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511750885","volume-title":"Diagnostic ultrasound: physics and equipment","author":"PR Hoskins","year":"2010","unstructured":"Hoskins PR, Martin K, Thrush A (2010) Diagnostic ultrasound: physics and equipment. Cambridge University Press, Cambridge"},{"key":"2149_CR14","unstructured":"Kanda R (2000) U.S. Patent No. 6,123,669. Washington, DC: U.S. Patent and Trademark Office"},{"key":"2149_CR15","unstructured":"Angelsen BA, Johansen TF (2010) U.S. Patent No. 7,699,782. Washington, DC: U.S. Patent and Trademark Office"},{"issue":"2","key":"2149_CR16","doi-asserted-by":"publisher","first-page":"132","DOI":"10.1080\/02841850701802412","volume":"49","author":"AF Christensen","year":"2008","unstructured":"Christensen AF, Nielsen BM, Engelholm SA (2008) Three-dimensional endoluminal ultrasound-guided interstitial brachytherapy in patients with anal cancer. Acta Radiologica 49(2):132\u2013137","journal-title":"Acta Radiologica"},{"issue":"2","key":"2149_CR17","first-page":"73","volume":"15","author":"GD Stetten","year":"1998","unstructured":"Stetten GD, Ota T, Ohazama CJ, Fleishman C, Castellucci J, Oxaal J, Ramm OV (1998) Real-time 3D ultrasound: a new look at the heart. J Cardiovasc Diagn Proced 15(2):73\u201384","journal-title":"J Cardiovasc Diagn Proced"},{"issue":"2","key":"2149_CR18","doi-asserted-by":"publisher","first-page":"1208","DOI":"10.1109\/LRA.2019.2894499","volume":"4","author":"A Stilli","year":"2019","unstructured":"Stilli A, Dimitrakakis E, D\u2019Ettorre C, Tran M, Stoyanov D (2019) Pneumatically attachable flexible rails for track-guided ultrasound scanning in robotic-assisted partial nephrectomy: a preliminary design study. IEEE Robot Autom Lett 4(2):1208\u20131215","journal-title":"IEEE Robot Autom Lett"},{"key":"2149_CR19","doi-asserted-by":"crossref","unstructured":"D\u2019Ettorre C, Stilli A, Dwyer G, Neves JB, Tran M and Stoyanov D (2019) Semi-autonomous interventional manipulation using pneumatically attachable flexible rails. In: IEEE\/RSJ international conference on intelligent robots and systems (IROS), 2019. IEEE","DOI":"10.1109\/IROS40897.2019.8967789"},{"issue":"6","key":"2149_CR20","doi-asserted-by":"publisher","first-page":"2280","DOI":"10.1016\/j.patcog.2014.01.005","volume":"47","author":"S Garrido-Jurado","year":"2014","unstructured":"Garrido-Jurado S, Mu\u00f1oz-Salinas R, Madrid-Cuevas FJ, Mar\u00edn-Jim\u00e9nez MJ (2014) Automatic generation and detection of highly reliable fiducial markers under occlusion. Pattern Recognit 47(6):2280\u20132292","journal-title":"Pattern Recognit"},{"issue":"5","key":"2149_CR21","doi-asserted-by":"publisher","first-page":"694","DOI":"10.1109\/42.736021","volume":"17","author":"JM Fitzpatrick","year":"1998","unstructured":"Fitzpatrick JM, West JB, Maurer CR (1998) Predicting error in rigid-body point-based registration. IEEE Trans Med Imaging 17(5):694\u2013702","journal-title":"IEEE Trans Med Imaging"},{"issue":"9","key":"2149_CR22","doi-asserted-by":"publisher","first-page":"917","DOI":"10.1109\/42.952729","volume":"20","author":"JM Fitzpatrick","year":"2001","unstructured":"Fitzpatrick JM, West JB (2001) The distribution of target registration error in rigid-body point-based registration. IEEE Trans Med Imaging 20(9):917\u2013927","journal-title":"IEEE Trans Med Imaging"},{"issue":"4","key":"2149_CR23","doi-asserted-by":"publisher","first-page":"397","DOI":"10.1016\/j.media.2011.01.001","volume":"15","author":"A Seginer","year":"2011","unstructured":"Seginer A (2011) Rigid-body point-based registration: the distribution of the target registration error when the fiducial registration errors are given. Med Image Anal 15(4):397\u2013413","journal-title":"Med Image Anal"},{"key":"2149_CR24","doi-asserted-by":"crossref","unstructured":"Golub GH, Christian R (1971) Singular value decomposition and least squares solutions. In: Linear Algebra, pp 134\u2013151. Springer, Berlin, Heidelberg","DOI":"10.1007\/978-3-662-39778-7_10"},{"issue":"2","key":"2149_CR25","doi-asserted-by":"publisher","first-page":"164","DOI":"10.1090\/qam\/10666","volume":"2","author":"K Levenberg","year":"1944","unstructured":"Levenberg K (1944) A method for the solution of certain non-linear problems in least squares. Q Appl Math 2(2):164\u2013168","journal-title":"Q Appl Math"},{"issue":"10","key":"2149_CR26","doi-asserted-by":"publisher","first-page":"2527","DOI":"10.1109\/TBME.2014.2322864","volume":"61","author":"A Lasso","year":"2014","unstructured":"Lasso A, Heffter T, Rankin A, Pinter C, Ungi T, Fichtinger G (2014) PLUS: open-source toolkit for ultrasound-guided intervention systems. IEEE Trans Biomed Eng 61(10):2527\u20132537","journal-title":"IEEE Trans Biomed Eng"},{"issue":"1","key":"2149_CR27","doi-asserted-by":"publisher","first-page":"015033","DOI":"10.1088\/1361-6560\/aa9e2c","volume":"63","author":"E Maneas","year":"2018","unstructured":"Maneas E, Xia W, Nikitichev DI, Daher B, Manimaran M, Wong RYJ, Chang C-W, Rahmani B, Capelli C, Schievano S (2018) Anatomically realistic ultrasound phantoms using gel wax with 3D printed moulds. Phys Med Biol 63(1):015033","journal-title":"Phys Med Biol"},{"key":"2149_CR28","doi-asserted-by":"crossref","unstructured":"Mackle EC, Maneas E, Little C, Carr E, Xia W, Nikitichev D, Rakhit RD, Finlay MC, Desjardins AE (2019) Wall-less vascular poly(vinyl) alcohol gel ultrasound imaging phantoms using 3D printed vessels. In: Design and quality for biomedical technologies XII, 2019. International Society for Optics and Photonics, p 108700P","DOI":"10.1117\/12.2510033"},{"key":"2149_CR29","doi-asserted-by":"crossref","unstructured":"Wang J, Olson E (2016) AprilTag 2: efficient and robust fiducial detection. In: 2016 IEEE\/RSJ international conference on intelligent robots and systems (IROS), pp 4193\u20134198","DOI":"10.1109\/IROS.2016.7759617"}],"container-title":["International Journal of Computer Assisted Radiology and Surgery"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-020-02149-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11548-020-02149-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-020-02149-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,5,7]],"date-time":"2021-05-07T23:54:39Z","timestamp":1620431679000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11548-020-02149-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5,8]]},"references-count":29,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2020,7]]}},"alternative-id":["2149"],"URL":"https:\/\/doi.org\/10.1007\/s11548-020-02149-4","relation":{},"ISSN":["1861-6410","1861-6429"],"issn-type":[{"value":"1861-6410","type":"print"},{"value":"1861-6429","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,5,8]]},"assertion":[{"value":"18 November 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"31 March 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"8 May 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with Ethical Standards"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This article does not contain any studies with human participants or animals performed by any of the authors.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Research involving Human Participants and\/or Animals"}},{"value":"This article does not contain patient data.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed consent"}}]}}