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20 Second Parity Lifetime in an InAs--Pb Tetron Device
Authors:
Morteza Aghaee,
Zulfi Alam,
Mariusz Andrzejczuk,
Andrey Antipov,
Theodora Asimakidis,
Mikhail Astafev,
Lukas Avilovas,
Ahmad Azizimanesh,
Amin Barzegar,
Bela Bauer,
Jonathan Becker,
Umesh Kumar Bhaskar,
Andrea G. Boa,
Srini Boddapati,
Nichlaus Bohac,
Jouri Bommer,
Jan Borovsky,
Léo Bourdet,
Samuel Boutin,
Srivatsa Chakravarthi,
Benjamin J. Chapman,
Nikolaos Chatzaras,
Tzu-Chiao Chien,
Jason Cho,
Patrick T. Codd
, et al. (140 additional authors not shown)
Abstract:
A central promise of topological quantum computing is that increasing the excitation gap improves device performance significantly. Here, we experimentally validate this principle in an InAs--Pb tetron device via interferometric single-shot parity measurements. By replacing aluminum with the higher-gap superconductor lead in our superconductor-semiconductor hybrid devices, we have improved the rob…
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A central promise of topological quantum computing is that increasing the excitation gap improves device performance significantly. Here, we experimentally validate this principle in an InAs--Pb tetron device via interferometric single-shot parity measurements. By replacing aluminum with the higher-gap superconductor lead in our superconductor-semiconductor hybrid devices, we have improved the robustness of our topological phase. In addition, to enable fast and precise bring-up at scale, we have developed an rf measurement technique that resolves low-energy wire-end states and directly measures their energy splitting with $μ\text{eV}$ precision. We employ this technique to bring up a device in a multi-tetron array and perform parity measurements of one of the tetron's hybrid nanowires (NWs). By controllably switching the wire parity, we observe $h/2e$-periodic bimodal shifts in the quantum capacitance of a quantum dot coupled to the hybrid nanowire in an interference loop. Further time-resolved measurements reveal a characteristic parity switching time of $\sim 20$ s with some instances reaching minute-scale. Such extremely long parity lifetimes are orders of magnitude longer than typical qubit operation times, which are on the order of $μ\text{s}$. Finally, we discuss potential implications for the fidelity of Pauli measurements.
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Submitted 2 June, 2026; v1 submitted 2 June, 2026;
originally announced June 2026.
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PalpAid: Multimodal Pneumatic Tactile Sensor for Tissue Palpation
Authors:
Devi Yuliarti,
Ravi Prakash,
Hiu Ching Cheung,
Amy Strong,
Patrick J. Codd,
Shan Lin
Abstract:
The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Though extremely valuable, robot-assisted surgery comes at the cost of reduced sensory information to the surgeon, with vision being the primary. Sensors proposed to overcome this sensory desert are often bulky, complex, a…
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The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Though extremely valuable, robot-assisted surgery comes at the cost of reduced sensory information to the surgeon, with vision being the primary. Sensors proposed to overcome this sensory desert are often bulky, complex, and incompatible with the surgical workflow. We present PalpAid, a multimodal pneumatic tactile sensor to restore touch in robot-assisted surgery. PalpAid is equipped with a microphone and pressure sensor, converting contact force into an internal pressure differential. The pressure sensor acts as an event detector, while the acoustic signature assists in tissue identification. We show the design, fabrication, and assembly of sensory units with characterization tests for robustness to use, repetition cycles, and integration with a robotic system. Finally, we demonstrate the sensor's ability to classify 3D-printed hard objects with varying infills and soft ex vivo tissues. We envision PalpAid to be easily retrofitted with existing surgical/general robotic systems, allowing soft tissue palpation.
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Submitted 5 April, 2026; v1 submitted 21 December, 2025;
originally announced December 2025.
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See, Plan, Cut: MPC-Based Autonomous Volumetric Robotic Laser Surgery with OCT Guidance
Authors:
Ravi Prakash,
Vincent Y. Wang,
Arpit Mishra,
Devi Yuliarti,
Pei Zhong,
Ryan P. McNabb,
Patrick J. Codd,
Leila J. Bridgeman
Abstract:
Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedback. We present RATS (Robot-Assisted Tissue Surgery), an intelligent opto-mechanical, optical coherence tomography (OCT)-guided robotic platform designed for autonomous volumetric soft tissue resection in surgical applic…
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Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedback. We present RATS (Robot-Assisted Tissue Surgery), an intelligent opto-mechanical, optical coherence tomography (OCT)-guided robotic platform designed for autonomous volumetric soft tissue resection in surgical applications. RATS integrates macro-scale RGB-D imaging, micro-scale OCT, and a fiber-coupled surgical laser, calibrated through a novel multistage alignment pipeline that achieves OCT-to-laser calibration accuracy of 0.161+-0.031mm on tissue phantoms and ex vivo porcine tissue. A super-Gaussian laser-tissue interaction (LTI) model characterizes ablation crater morphology with an average RMSE of 0.231+-0.121mm, outperforming Gaussian baselines. A sampling-based model predictive control (MPC) framework operates directly on OCT voxel data to generate constraint-aware resection trajectories with closed-loop feedback, achieving 0.842mm RMSE and improving intersection-over-union agreement by 64.8% compared to feedforward execution. With OCT, RATS detects subsurface structures and modifies the planner's objective to preserve them, demonstrating clinical feasibility.
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Submitted 18 March, 2026; v1 submitted 21 November, 2025;
originally announced November 2025.
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TumorMap: A Laser-based Surgical Platform for 3D Tumor Mapping and Fully-Automated Tumor Resection
Authors:
Guangshen Ma,
Ravi Prakash,
Beatrice Schleupner,
Jeffrey Everitt,
Arpit Mishra,
Junqin Chen,
Brian Mann,
Boyuan Chen,
Leila Bridgeman,
Pei Zhong,
Mark Draelos,
William C. Eward,
Patrick J. Codd
Abstract:
Surgical resection of malignant solid tumors is critically dependent on the surgeon's ability to accurately identify pathological tissue and remove the tumor while preserving surrounding healthy structures. However, building an intraoperative 3D tumor model for subsequent removal faces major challenges due to the lack of high-fidelity tumor reconstruction, difficulties in developing generalized ti…
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Surgical resection of malignant solid tumors is critically dependent on the surgeon's ability to accurately identify pathological tissue and remove the tumor while preserving surrounding healthy structures. However, building an intraoperative 3D tumor model for subsequent removal faces major challenges due to the lack of high-fidelity tumor reconstruction, difficulties in developing generalized tissue models to handle the inherent complexities of tumor diagnosis, and the natural physical limitations of bimanual operation, physiologic tremor, and fatigue creep during surgery. To overcome these challenges, we introduce "TumorMap", a surgical robotic platform to formulate intraoperative 3D tumor boundaries and achieve autonomous tissue resection using a set of multifunctional lasers. TumorMap integrates a three-laser mechanism (optical coherence tomography, laser-induced endogenous fluorescence, and cutting laser scalpel) combined with deep learning models to achieve fully-automated and noncontact tumor resection. We validated TumorMap in murine osteoscarcoma and soft-tissue sarcoma tumor models, and established a novel histopathological workflow to estimate sensor performance. With submillimeter laser resection accuracy, we demonstrated multimodal sensor-guided autonomous tumor surgery without any human intervention.
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Submitted 7 November, 2025;
originally announced November 2025.
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A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons
Authors:
Pejman Kheradmand,
Behnam Moradkhani,
Raghavasimhan Sankaranarayanan,
Kent K. Yamamoto,
Tanner J. Zachem,
Patrick J. Codd,
Yash Chitalia,
Pierre E. Dupont
Abstract:
Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They overcome the restricted degrees of freedom often seen in tendon-driven designs, and mitigate issues such as snapping instability associated with concentric tube robots. However, a complete and general mechanical model for…
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Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They overcome the restricted degrees of freedom often seen in tendon-driven designs, and mitigate issues such as snapping instability associated with concentric tube robots. However, a complete and general mechanical model for these systems remains an open problem. In this work, we propose a Cosserat rod-based framework for modeling the general case of $n$ concentric tubes, each actuated by $m_i$ tendons, where $i = \{1, \ldots, n\}$. The model allows each tube to twist and elongate while enforcing a shared centerline for bending. We validate the proposed framework through experiments with two-tube and three tube assemblies under various tendon routing configurations, achieving tip prediction errors $<4\%$ of the robot's total length. We further demonstrate the model's generality by applying it to existing robots in the field, where maximum tip deviations remain around $5\%$ of the total length. This model provides a foundation for accurate shape estimation and control of advanced tendon-actuated concentric tube robots.
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Submitted 27 October, 2025;
originally announced October 2025.
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Where is the Boundary: Multimodal Sensor Fusion Test Bench for Tissue Boundary Delineation
Authors:
Zacharias Chen,
Alexa Cristelle Cahilig,
Sarah Dias,
Prithu Kolar,
Ravi Prakash,
Patrick J. Codd
Abstract:
Robot-assisted neurological surgery is receiving growing interest due to the improved dexterity, precision, and control of surgical tools, which results in better patient outcomes. However, such systems often limit surgeons' natural sensory feedback, which is crucial in identifying tissues -- particularly in oncological procedures where distinguishing between healthy and tumorous tissue is vital.…
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Robot-assisted neurological surgery is receiving growing interest due to the improved dexterity, precision, and control of surgical tools, which results in better patient outcomes. However, such systems often limit surgeons' natural sensory feedback, which is crucial in identifying tissues -- particularly in oncological procedures where distinguishing between healthy and tumorous tissue is vital. While imaging and force sensing have addressed the lack of sensory feedback, limited research has explored multimodal sensing options for accurate tissue boundary delineation. We present a user-friendly, modular test bench designed to evaluate and integrate complementary multimodal sensors for tissue identification. Our proposed system first uses vision-based guidance to estimate boundary locations with visual cues, which are then refined using data acquired by contact microphones and a force sensor. Real-time data acquisition and visualization are supported via an interactive graphical interface. Experimental results demonstrate that multimodal fusion significantly improves material classification accuracy. The platform provides a scalable hardware-software solution for exploring sensor fusion in surgical applications and demonstrates the potential of multimodal approaches in real-time tissue boundary delineation.
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Submitted 10 July, 2025;
originally announced August 2025.
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Distinct Lifetimes for $X$ and $Z$ Loop Measurements in a Majorana Tetron Device
Authors:
Morteza Aghaee,
Zulfi Alam,
Rikke Andersen,
Mariusz Andrzejczuk,
Andrey Antipov,
Mikhail Astafev,
Lukas Avilovas,
Ahmad Azizimanesh,
Eric Banek,
Bela Bauer,
Jonathan Becker,
Umesh Kumar Bhaskar,
Andrea G. Boa,
Srini Boddapati,
Nichlaus Bohac,
Jouri D. S. Bommer,
Jan Borovsky,
Léo Bourdet,
Samuel Boutin,
Lucas Casparis,
Srivatsa Chakravarthi,
Hamidreza Chalabi,
Benjamin J. Chapman,
Nikolaos Chatzaras,
Tzu-Chiao Chien
, et al. (142 additional authors not shown)
Abstract:
We present a hardware realization and measurements of a tetron qubit device in a superconductor-semiconductor heterostructure. The device architecture contains two parallel superconducting nanowires, which support four Majorana zero modes (MZMs) when tuned into the topological phase, and a trivial superconducting backbone. Two distinct readout interferometers are formed by connecting the supercond…
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We present a hardware realization and measurements of a tetron qubit device in a superconductor-semiconductor heterostructure. The device architecture contains two parallel superconducting nanowires, which support four Majorana zero modes (MZMs) when tuned into the topological phase, and a trivial superconducting backbone. Two distinct readout interferometers are formed by connecting the superconducting structure to a series of quantum dots. We perform single-shot interferometric measurements of the fermion parity for the two loops, designed to implement Pauli-$X$ and $Z$ measurements of the tetron. Performing repeated single-shot measurements yields two widely separated time scales $τ_X = 14.5\pm 0.3 \, \mathrm{μs}$ and $τ_Z = 12.4\pm 0.4\, \mathrm{ms}$ for parity switches observed in the $X$ and $Z$ measurement loops, which we attribute to intra-wire parity switches and external quasiparticle poisoning, respectively. We estimate assignment errors of $\mathrm{err}^X_a=16\%$ and $\mathrm{err}^Z_a=0.5\%$ for $X$ and $Z$ measurement-based operations, respectively.
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Submitted 4 September, 2025; v1 submitted 11 July, 2025;
originally announced July 2025.
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SurgXBench: Explainable Vision-Language Model Benchmark for Surgery
Authors:
Jiajun Cheng,
Xianwu Zhao,
Sainan Liu,
Xiaofan Yu,
Ravi Prakash,
Patrick J. Codd,
Jonathan Elliott Katz,
Shan Lin
Abstract:
Innovations in digital intelligence are transforming robotic surgery with more informed decision-making. Real-time awareness of surgical instrument presence and actions (e.g., cutting tissue) is essential for such systems. Yet, despite decades of research, most machine learning models for this task are trained on small datasets and still struggle to generalize. Recently, vision-Language Models (VL…
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Innovations in digital intelligence are transforming robotic surgery with more informed decision-making. Real-time awareness of surgical instrument presence and actions (e.g., cutting tissue) is essential for such systems. Yet, despite decades of research, most machine learning models for this task are trained on small datasets and still struggle to generalize. Recently, vision-Language Models (VLMs) have brought transformative advances in reasoning across visual and textual modalities. Their unprecedented generalization capabilities suggest great potential for advancing intelligent robotic surgery. However, surgical VLMs remain under-explored, and existing models show limited performance, highlighting the need for benchmark studies to assess their capabilities and limitations and to inform future development. To this end, we benchmark the zero-shot performance of several advanced VLMs on two public robotic-assisted laparoscopic datasets for instrument and action classification. Beyond standard evaluation, we integrate explainable AI to visualize VLM attention and uncover causal explanations behind their predictions. This provides a previously underexplored perspective in this field for evaluating the reliability of model predictions. We also propose several explainability analysis-based metrics to complement standard evaluations. Our analysis reveals that surgical VLMs, despite domain-specific training, often rely on weak contextual cues rather than clinically relevant visual evidence, highlighting the need for stronger visual and reasoning supervision in surgical applications.
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Submitted 25 June, 2026; v1 submitted 15 May, 2025;
originally announced May 2025.
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Tendon-Actuated Concentric Tube Endonasal Robot (TACTER)
Authors:
Kent K. Yamamoto,
Tanner J. Zachem,
Pejman Kheradmand,
Patrick Zheng,
Jihad Abdelgadir,
Jared Laurance Bailey,
Kaelyn Pieter,
Patrick J. Codd,
Yash Chitalia
Abstract:
Endoscopic endonasal approaches (EEA) have become more prevalent for minimally invasive skull base and sinus surgeries. However, rigid scopes and tools significantly decrease the surgeon's ability to operate in tight anatomical spaces and avoid critical structures such as the internal carotid artery and cranial nerves. This paper proposes a novel tendon-actuated concentric tube endonasal robot (TA…
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Endoscopic endonasal approaches (EEA) have become more prevalent for minimally invasive skull base and sinus surgeries. However, rigid scopes and tools significantly decrease the surgeon's ability to operate in tight anatomical spaces and avoid critical structures such as the internal carotid artery and cranial nerves. This paper proposes a novel tendon-actuated concentric tube endonasal robot (TACTER) design in which two tendon-actuated robots are concentric to each other, resulting in an outer and inner robot that can bend independently. The outer robot is a unidirectionally asymmetric notch (UAN) nickel-titanium robot, and the inner robot is a 3D-printed bidirectional robot, with a nickel-titanium bending member. In addition, the inner robot can translate axially within the outer robot, allowing the tool to traverse through structures while bending, thereby executing follow-the-leader motion. A Cosserat-rod based mechanical model is proposed that uses tendon tension of both tendon-actuated robots and the relative translation between the robots as inputs and predicts the TACTER tip position for varying input parameters. The model is validated with experiments, and a human cadaver experiment is presented to demonstrate maneuverability from the nostril to the sphenoid sinus. This work presents the first tendon-actuated concentric tube (TACT) dexterous robotic tool capable of performing follow-the-leader motion within natural nasal orifices to cover workspaces typically required for a successful EEA.
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Submitted 28 April, 2025;
originally announced April 2025.
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Response to recent comments on Phys. Rev. B 107, 245423 (2023) and Subsection S4.3 of the Supp. Info. for Nature 638, 651-655 (2025)
Authors:
Morteza Aghaee,
Zulfi Alam,
Mariusz Andrzejczuk,
Andrey E. Antipov,
Mikhail Astafev,
Amin Barzegar,
Bela Bauer,
Jonathan Becker,
Umesh Kumar Bhaskar,
Alex Bocharov,
Srini Boddapati,
David Bohn,
Jouri Bommer,
Leo Bourdet,
Samuel Boutin,
Benjamin J. Chapman,
Sohail Chatoor,
Anna Wulff Christensen,
Patrick Codd,
William S. Cole,
Paul Cooper,
Fabiano Corsetti,
Ajuan Cui,
Andreas Ekefjärd,
Saeed Fallahi
, et al. (105 additional authors not shown)
Abstract:
The topological gap protocol (TGP) is a statistical test designed to identify a topological phase with high confidence and without human bias. It is used to determine a promising parameter regime for operating topological qubits. The protocol's key metric is the probability of incorrectly identifying a trivial region as topological, referred to as the false discovery rate (FDR). Two recent manuscr…
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The topological gap protocol (TGP) is a statistical test designed to identify a topological phase with high confidence and without human bias. It is used to determine a promising parameter regime for operating topological qubits. The protocol's key metric is the probability of incorrectly identifying a trivial region as topological, referred to as the false discovery rate (FDR). Two recent manuscripts [arXiv:2502.19560, arXiv:2503.08944] engage with the topological gap protocol and its use in Phys. Rev. B 107, 245423 (2023) and Subsection S4.3 of the Supplementary Information for Nature 638, 651-655 (2025), although they do not explicitly dispute the main results of either one. We demonstrate that the objections in arXiv:2502.19560 and arXiv:2503.08944 are unfounded, and we uphold the conclusions of Phys. Rev. B 107, 245423 (2023) and Nature 638, 651-655 (2025). Specifically, we show that no flaws have been identified in our estimate of the false discovery rate (FDR). We provide a point-by-point rebuttal of the comments in arXiv:2502.19560 and arXiv:2503.08944.
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Submitted 17 April, 2025;
originally announced April 2025.
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Roadmap to fault tolerant quantum computation using topological qubit arrays
Authors:
David Aasen,
Morteza Aghaee,
Zulfi Alam,
Mariusz Andrzejczuk,
Andrey Antipov,
Mikhail Astafev,
Lukas Avilovas,
Amin Barzegar,
Bela Bauer,
Jonathan Becker,
Juan M. Bello-Rivas,
Umesh Bhaskar,
Alex Bocharov,
Srini Boddapati,
David Bohn,
Jouri Bommer,
Parsa Bonderson,
Jan Borovsky,
Leo Bourdet,
Samuel Boutin,
Tom Brown,
Gary Campbell,
Lucas Casparis,
Srivatsa Chakravarthi,
Rui Chao
, et al. (157 additional authors not shown)
Abstract:
We describe a concrete device roadmap towards a fault-tolerant quantum computing architecture based on noise-resilient, topologically protected Majorana-based qubits. Our roadmap encompasses four generations of devices: a single-qubit device that enables a measurement-based qubit benchmarking protocol; a two-qubit device that uses measurement-based braiding to perform single-qubit Clifford operati…
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We describe a concrete device roadmap towards a fault-tolerant quantum computing architecture based on noise-resilient, topologically protected Majorana-based qubits. Our roadmap encompasses four generations of devices: a single-qubit device that enables a measurement-based qubit benchmarking protocol; a two-qubit device that uses measurement-based braiding to perform single-qubit Clifford operations; an eight-qubit device that can be used to show an improvement of a two-qubit operation when performed on logical qubits rather than directly on physical qubits; and a topological qubit array supporting lattice surgery demonstrations on two logical qubits. Devices that enable this path require a superconductor-semiconductor heterostructure that supports a topological phase, quantum dots and coupling between those quantum dots that can create the appropriate loops for interferometric measurements, and a microwave readout system that can perform fast, low-error single-shot measurements. We describe the key design components of these qubit devices, along with the associated protocols for demonstrations of single-qubit benchmarking, Clifford gate execution, quantum error detection, and quantum error correction, which differ greatly from those in more conventional qubits. Finally, we comment on implications and advantages of this architecture for utility-scale quantum computation.
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Submitted 18 July, 2025; v1 submitted 17 February, 2025;
originally announced February 2025.
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Sampling-Based Model Predictive Control for Volumetric Ablation in Robotic Laser Surgery
Authors:
Vincent Y. Wang,
Ravi Prakash,
Siobhan R. Oca,
Ethan J. LoCicero,
Patrick J. Codd,
Leila J. Bridgeman
Abstract:
Laser-based surgical ablation relies heavily on surgeon involvement, restricting precision to the limits of human error. The interaction between laser and tissue is governed by various laser parameters that control the laser irradiance on the tissue, including the laser power, distance, spot size, orientation, and exposure time. This complex interaction lends itself to robotic automation, allowing…
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Laser-based surgical ablation relies heavily on surgeon involvement, restricting precision to the limits of human error. The interaction between laser and tissue is governed by various laser parameters that control the laser irradiance on the tissue, including the laser power, distance, spot size, orientation, and exposure time. This complex interaction lends itself to robotic automation, allowing the surgeon to focus on high-level tasks, such as choosing the region and method of ablation, while the lower-level ablation plan can be handled autonomously. This paper describes a sampling-based model predictive control (MPC) scheme to plan ablation sequences for arbitrary tissue volumes. Using a steady-state point ablation model to simulate a single laser-tissue interaction, a random search technique explores the reachable state space while preserving sensitive tissue regions. The sampled MPC strategy provides an ablation sequence that accounts for parameter uncertainty without violating constraints, such as avoiding critical nerve bundles or blood vessels.
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Submitted 4 October, 2024;
originally announced October 2024.
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Towards the Development of a Tendon-Actuated Galvanometer for Endoscopic Surgical Laser Scanning
Authors:
Kent K. Yamamoto,
Tanner J. Zachem,
Behnam Moradkhani,
Yash Chitalia,
Patrick J. Codd
Abstract:
There is a need for precision pathological sensing, imaging, and tissue manipulation in neurosurgical procedures, such as brain tumor resection. Precise tumor margin identification and resection can prevent further growth and protect critical structures. Surgical lasers with small laser diameters and steering capabilities can allow for new minimally invasive procedures by traversing through comple…
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There is a need for precision pathological sensing, imaging, and tissue manipulation in neurosurgical procedures, such as brain tumor resection. Precise tumor margin identification and resection can prevent further growth and protect critical structures. Surgical lasers with small laser diameters and steering capabilities can allow for new minimally invasive procedures by traversing through complex anatomy, then providing energy to sense, visualize, and affect tissue. In this paper, we present the design of a small-scale tendon-actuated galvanometer (TAG) that can serve as an end-effector tool for a steerable surgical laser. The galvanometer sensor design, fabrication, and kinematic modeling are presented and derived. It can accurately rotate up to 30.14 degrees (or a laser reflection angle of 60.28 degrees). A kinematic mapping of input tendon stroke to output galvanometer angle change and a forward-kinematics model relating the end of the continuum joint to the laser end-point are derived and validated.
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Submitted 5 June, 2024;
originally announced June 2024.
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An FBG-based Stiffness Estimation Sensor for In-vivo Diagnostics
Authors:
Behnam Moradkhani,
Pejman Kheradmand,
Harshith Jella,
Kent K. Yamamoto,
Alireza Tofangchi,
Patrick J. Codd,
Yash Chitalia
Abstract:
In-vivo tissue stiffness identification can be useful in pulmonary fibrosis diagnostics and minimally invasive tumor identification, among many other applications. In this work, we propose a palpation-based method for tissue stiffness estimation that uses a sensorized beam buckled onto the surface of a tissue. Fiber Bragg Gratings (FBGs) are used in our sensor as a shape-estimation modality to get…
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In-vivo tissue stiffness identification can be useful in pulmonary fibrosis diagnostics and minimally invasive tumor identification, among many other applications. In this work, we propose a palpation-based method for tissue stiffness estimation that uses a sensorized beam buckled onto the surface of a tissue. Fiber Bragg Gratings (FBGs) are used in our sensor as a shape-estimation modality to get real-time beam shape, even while the device is not visually monitored. A mechanical model is developed to predict the behavior of a buckling beam and is validated using finite element analysis and bench-top testing with phantom tissue samples (made of PDMS and PA-Gel). Bench-top estimations were conducted and the results were compared with the actual stiffness values. Mean RMSE and standard deviation (from the actual stiffnesses) values of 413.86 KPa and 313.82 KPa were obtained. Estimations for softer samples were relatively closer to the actual values. Ultimately, we used the stiffness sensor within a mock concentric tube robot as a demonstration of \textit{in-vivo} sensor feasibility. Bench-top trials with and without the robot demonstrate the effectiveness of this unique sensing modality in \textit{in-vivo} applications.
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Submitted 30 May, 2024;
originally announced May 2024.
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Interferometric Single-Shot Parity Measurement in an InAs-Al Hybrid Device
Authors:
Morteza Aghaee,
Alejandro Alcaraz Ramirez,
Zulfi Alam,
Rizwan Ali,
Mariusz Andrzejczuk,
Andrey Antipov,
Mikhail Astafev,
Amin Barzegar,
Bela Bauer,
Jonathan Becker,
Umesh Kumar Bhaskar,
Alex Bocharov,
Srini Boddapati,
David Bohn,
Jouri Bommer,
Leo Bourdet,
Arnaud Bousquet,
Samuel Boutin,
Lucas Casparis,
Benjamin James Chapman,
Sohail Chatoor,
Anna Wulff Christensen,
Cassandra Chua,
Patrick Codd,
William Cole
, et al. (137 additional authors not shown)
Abstract:
The fusion of non-Abelian anyons or topological defects is a fundamental operation in measurement-only topological quantum computation. In topological superconductors, this operation amounts to a determination of the shared fermion parity of Majorana zero modes. As a step towards this, we implement a single-shot interferometric measurement of fermion parity in indium arsenide-aluminum heterostruct…
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The fusion of non-Abelian anyons or topological defects is a fundamental operation in measurement-only topological quantum computation. In topological superconductors, this operation amounts to a determination of the shared fermion parity of Majorana zero modes. As a step towards this, we implement a single-shot interferometric measurement of fermion parity in indium arsenide-aluminum heterostructures with a gate-defined nanowire. The interferometer is formed by tunnel-coupling the proximitized nanowire to quantum dots. The nanowire causes a state-dependent shift of these quantum dots' quantum capacitance of up to 1 fF. Our quantum capacitance measurements show flux h/2e-periodic bimodality with a signal-to-noise ratio of 1 in 3.7 $μ$s at optimal flux values. From the time traces of the quantum capacitance measurements, we extract a dwell time in the two associated states that is longer than 1 ms at in-plane magnetic fields of approximately 2 T. These results are consistent with a measurement of the fermion parity encoded in a pair of Majorana zero modes that are separated by approximately 3 $μ$m and subjected to a low rate of poisoning by non-equilibrium quasiparticles. The large capacitance shift and long poisoning time enable a parity measurement error probability of 1%.
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Submitted 2 April, 2024; v1 submitted 17 January, 2024;
originally announced January 2024.
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Surface-Enhanced Raman Spectroscopy and Transfer Learning Toward Accurate Reconstruction of the Surgical Zone
Authors:
Ashutosh Raman,
Ren A. Odion,
Kent K. Yamamoto,
Weston Ross,
Tuan Vo-Dinh,
Patrick J. Codd
Abstract:
Raman spectroscopy, a photonic modality based on the inelastic backscattering of coherent light, is a valuable asset to the intraoperative sensing space, offering non-ionizing potential and highly-specific molecular fingerprint-like spectroscopic signatures that can be used for diagnosis of pathological tissue in the dynamic surgical field. Though Raman suffers from weakness in intensity, Surface-…
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Raman spectroscopy, a photonic modality based on the inelastic backscattering of coherent light, is a valuable asset to the intraoperative sensing space, offering non-ionizing potential and highly-specific molecular fingerprint-like spectroscopic signatures that can be used for diagnosis of pathological tissue in the dynamic surgical field. Though Raman suffers from weakness in intensity, Surface-Enhanced Raman Spectroscopy (SERS), which uses metal nanostructures to amplify Raman signals, can achieve detection sensitivities that rival traditional photonic modalities. In this study, we outline a robotic Raman system that can reliably pinpoint the location and boundaries of a tumor embedded in healthy tissue, modeled here as a tissue-mimicking phantom with selectively infused Gold Nanostar regions. Further, due to the relative dearth of collected biological SERS or Raman data, we implement transfer learning to achieve 100% validation classification accuracy for Gold Nanostars compared to Control Agarose, thus providing a proof-of-concept for Raman-based deep learning training pipelines. We reconstruct a surgical field of 30x60mm in 10.2 minutes, and achieve 98.2% accuracy, preserving relative measurements between features in the phantom. We also achieve an 84.3% Intersection-over-Union score, which is the extent of overlap between the ground truth and predicted reconstructions. Lastly, we also demonstrate that the Raman system and classification algorithm do not discern based on sample color, but instead on presence of SERS agents. This study provides a crucial step in the translation of intelligent Raman systems in intraoperative oncological spaces.
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Submitted 16 January, 2024;
originally announced January 2024.
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Computer Vision for Increased Operative Efficiency via Identification of Instruments in the Neurosurgical Operating Room: A Proof-of-Concept Study
Authors:
Tanner J. Zachem,
Sully F. Chen,
Vishal Venkatraman,
David AW Sykes,
Ravi Prakash,
Koumani W. Ntowe,
Mikhail A. Bethell,
Samantha Spellicy,
Alexander D Suarez,
Weston Ross,
Patrick J. Codd
Abstract:
Objectives Computer vision (CV) is a field of artificial intelligence that enables machines to interpret and understand images and videos. CV has the potential to be of assistance in the operating room (OR) to track surgical instruments. We built a CV algorithm for identifying surgical instruments in the neurosurgical operating room as a potential solution for surgical instrument tracking and mana…
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Objectives Computer vision (CV) is a field of artificial intelligence that enables machines to interpret and understand images and videos. CV has the potential to be of assistance in the operating room (OR) to track surgical instruments. We built a CV algorithm for identifying surgical instruments in the neurosurgical operating room as a potential solution for surgical instrument tracking and management to decrease surgical waste and opening of unnecessary tools. Methods We collected 1660 images of 27 commonly used neurosurgical instruments. Images were labeled using the VGG Image Annotator and split into 80% training and 20% testing sets in order to train a U-Net Convolutional Neural Network using 5-fold cross validation. Results Our U-Net achieved a tool identification accuracy of 80-100% when distinguishing 25 classes of instruments, with 19/25 classes having accuracy over 90%. The model performance was not adequate for sub classifying Adson, Gerald, and Debakey forceps, which had accuracies of 60-80%. Conclusions We demonstrated the viability of using machine learning to accurately identify surgical instruments. Instrument identification could help optimize surgical tray packing, decrease tool usage and waste, decrease incidence of instrument misplacement events, and assist in timing of routine instrument maintenance. More training data will be needed to increase accuracy across all surgical instruments that would appear in a neurosurgical operating room. Such technology has the potential to be used as a method to be used for proving what tools are truly needed in each type of operation allowing surgeons across the world to do more with less.
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Submitted 29 April, 2024; v1 submitted 3 December, 2023;
originally announced December 2023.
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Incident Angle Study for Designing an Endoscopic Tool for Intraoperative Brain Tumor Detection
Authors:
Kent Y. Yamamoto,
Tanner J. Zachem,
Weston A. Ross,
Patrick J. Codd
Abstract:
In neurosurgical procedures maximizing the resection of tumor tissue while avoiding healthy tissue is of paramount importance and a difficult task due to many factors, such as surrounding eloquent brain. Swiftly identifying tumor tissue for removal could increase surgical outcomes. The TumorID is a laser-induced fluorescence spectroscopy device that utilizes endogenous fluorophores such as NADH an…
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In neurosurgical procedures maximizing the resection of tumor tissue while avoiding healthy tissue is of paramount importance and a difficult task due to many factors, such as surrounding eloquent brain. Swiftly identifying tumor tissue for removal could increase surgical outcomes. The TumorID is a laser-induced fluorescence spectroscopy device that utilizes endogenous fluorophores such as NADH and FAD to detect tumor regions. With the goal of creating an endoscopic tool for intraoperative tumor detection in mind, a study of the TumorID was conducted to assess how the angle of incidence (AoI) affects the collected spectral response of the scanned tumor. For this study, flat and convex NADH/FAD gellan gum phantoms were scanned at various AoI (a range of 36 degrees) to observe the spectral behavior. Results showed that spectral signature did not change significantly across flat and convex phantoms, and the Area under Curve (AUC) values calculated for each spectrum had a standard deviation of 0.02 and 0.01 for flat and convex phantoms, respectively. Therefore, the study showed that AoI will affect the intensity of the spectral response, but the peaks representative of the endogenous fluorophores are still observable and similar. Future work includes conducting an AoI study with a longer working-distance lens, then incorporating said lens to design an endoscopic, intraoperative tumor detection device for minimally invasive surgery, with first applications in endonasal endoscopic approaches for pituitary tumors.
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Submitted 7 November, 2023;
originally announced November 2023.
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3D Laser-and-tissue Agnostic Data-driven Method for Robotic Laser Surgical Planning
Authors:
Guangshen Ma,
Ravi Prakash,
Brian Mann,
Weston Ross,
Patrick Codd
Abstract:
In robotic laser surgery, shape prediction of an one-shot ablation cavity is an important problem for minimizing errant overcutting of healthy tissue during the course of pathological tissue resection and precise tumor removal. Since it is difficult to physically model the laser-tissue interaction due to the variety of optical tissue properties, complicated process of heat transfer, and uncertaint…
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In robotic laser surgery, shape prediction of an one-shot ablation cavity is an important problem for minimizing errant overcutting of healthy tissue during the course of pathological tissue resection and precise tumor removal. Since it is difficult to physically model the laser-tissue interaction due to the variety of optical tissue properties, complicated process of heat transfer, and uncertainty about the chemical reaction, we propose a 3D cavity prediction model based on an entirely data-driven method without any assumptions of laser settings and tissue properties. Based on the cavity prediction model, we formulate a novel robotic laser planning problem to determine the optimal laser incident configuration, which aims to create a cavity that aligns with the surface target (e.g. tumor, pathological tissue).
To solve the one-shot ablation cavity prediction problem, we model the 3D geometric relation between the tissue surface and the laser energy profile as a non-linear regression problem that can be represented by a single-layer perceptron (SLP) network. The SLP network is encoded in a novel kinematic model to predict the shape of the post-ablation cavity with an arbitrary laser input. To estimate the SLP network parameters, we formulate a dataset of one-shot laser-phantom cavities reconstructed by the optical coherence tomography (OCT) B-scan images for the data-driven modelling. To verify the method. The learned cavity prediction model is applied to solve a simplified robotic laser planning problem modelled as a surface alignment error minimization problem. The initial results report (91.1 +- 3.0)% 3D-cavity-Intersection-over-Union (3D-cavity-IoU) for the 3D cavity prediction and an average of 97.9% success rate for the simulated surface alignment experiments.
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Submitted 2 May, 2023;
originally announced May 2023.
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Robotic Laser Orientation Planning with a 3D Data-driven Method
Authors:
Guangshen Ma,
Weston Ross,
Patrick J. Codd
Abstract:
This paper focuses on a research problem of robotic controlled laser orientation to minimize errant overcutting of healthy tissue during the course of pathological tissue resection. Laser scalpels have been widely used in surgery to remove pathological tissue targets such as tumors or other lesions. However, different laser orientations can create various tissue ablation cavities, and incorrect in…
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This paper focuses on a research problem of robotic controlled laser orientation to minimize errant overcutting of healthy tissue during the course of pathological tissue resection. Laser scalpels have been widely used in surgery to remove pathological tissue targets such as tumors or other lesions. However, different laser orientations can create various tissue ablation cavities, and incorrect incident angles can cause over-irradiation of healthy tissue that should not be ablated. This work aims to formulate an optimization problem to find the optimal laser orientation in order to minimize the possibility of excessive laser-induced tissue ablation. We first develop a 3D data-driven geometric model to predict the shape of the tissue cavity after a single laser ablation. Modelling the target and non-target tissue region by an obstacle boundary, the determination of an optimal orientation is converted to a collision-minimization problem. The goal of this optimization formulation is maintaining the ablated contour distance from the obstacle boundary, which is solved by Projected gradient descent. Simulation experiments were conducted and the results validated the proposed method with conditions of various obstacle shapes and different initial incident angles.
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Submitted 4 January, 2022;
originally announced January 2022.
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Do Public Datasets Assure Unbiased Comparisons for Registration Evaluation?
Authors:
Jie Luo,
Guangshen Ma,
Sarah Frisken,
Parikshit Juvekar,
Nazim Haouchine,
Zhe Xu,
Yiming Xiao,
Alexandra Golby,
Patrick Codd,
Masashi Sugiyama,
William Wells III
Abstract:
With the increasing availability of new image registration approaches, an unbiased evaluation is becoming more needed so that clinicians can choose the most suitable approaches for their applications. Current evaluations typically use landmarks in manually annotated datasets. As a result, the quality of annotations is crucial for unbiased comparisons. Even though most data providers claim to have…
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With the increasing availability of new image registration approaches, an unbiased evaluation is becoming more needed so that clinicians can choose the most suitable approaches for their applications. Current evaluations typically use landmarks in manually annotated datasets. As a result, the quality of annotations is crucial for unbiased comparisons. Even though most data providers claim to have quality control over their datasets, an objective third-party screening can be reassuring for intended users. In this study, we use the variogram to screen the manually annotated landmarks in two datasets used to benchmark registration in image-guided neurosurgeries. The variogram provides an intuitive 2D representation of the spatial characteristics of annotated landmarks. Using variograms, we identified potentially problematic cases and had them examined by experienced radiologists. We found that (1) a small number of annotations may have fiducial localization errors; (2) the landmark distribution for some cases is not ideal to offer fair comparisons. If unresolved, both findings could incur bias in registration evaluation.
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Submitted 20 March, 2020;
originally announced March 2020.