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. 2018 Nov 19;15(4):306–322. doi: 10.14245/ns.1836206.103

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Copyright © 2018 by the Korean Spinal Neurosurgery Society

This is an open access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.org/licenses/by-nc/4.0/) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Fig. 11. — Integrated system architecture with photoacoustic imaging and robotic surgery system. Photoacoustic images are generated and sent to the photoacoustic image guidance module (via a 3-D slicer plug-in) for visualization, along with live stereo endoscope video (via SVL-IGT) and models of the drill, laser, and ultrasound probe that are positioned based on kinematic position feedback from the da Vinci patient-side manipulators (via dVRK-IGT). Visualizations from the 3-D Slicer are sent to the da Vinci stereo viewer. SVL, cisst Stereo Vision Library27; dVRK, da Vinci Research Kit;[31] PLD, pulsed laser diode; 3-D, three-dimensional; IGT, image-guided therapy; PSM, patient side manipulators; ECM, endoscopic camera manipulator; MTM, master tool manipulator.