Ryan J. Halter | Searcharxiv

arXiv2026

Multimodal Image-based Robotic Assistance and Guidance Environment (MIRAGE): A Novel Unified Framework for Surgical Navigation and Visualization

This paper presents the computational architecture and quantitative preclinical evaluation of MIRAGE, a multimodal image-guided robotic surgery framework for real-time visualization and navigation. It integrates stereovision scene reconstruction, augmented-reality (AR) video overlay, quantified heads-up display (HUD) navigation, and intraoperative ultrasound within the da Vinci console's TilePro display (Intuitive Surgical). Additional modules include optical/electromagnetic tracker registration, stereo calibration, fiducial rigid registration with RMSE feedback, and 3D point-cloud reconstruction. Video I/O and rendering run in a C++ backend, while a Python GUI coordinates calibration, registration, reconstruction, visualization, and user interaction through an in-process zero-copy binding layer. The framework formalizes spatial transforms, module states, and synchronization of heterogeneous video and tracking streams. Preoperative calibration uses synchronized checkerboard image pairs and optimization, with estimated intrinsics, extrinsics, and rectification reused intraoperatively. MIRAGE was validated in phantom experiments across da Vinci S, Si, Xi, and SP platforms. Across clinically relevant working distances, mean 3D reprojection error was 0.6mm, with best 0.1mm RMSE at 100mm on Xi. Results support MIRAGE as a preclinical technical-validation platform for accurate, responsive, and extensible multimodal surgical guidance.

cs.RO↗

arXiv2026

Optimizing In Vivo Oral Lesion Classification from Electrical Impedance Spectroscopy Using Data-driven Approaches

Oral cancer is a significant global health burden, and early detection remains a critical clinical need. Electrical impedance spectroscopy (EIS) offers a promising non-invasive approach for real-time tissue characterization, but classification frameworks that jointly leverage multiple impedance features for in vivo oral lesion discrimination remain underdeveloped. This paper presents a machine-learning (ML) pipeline to optimize classification of in vivo oral pathology from EIS data collected using a handheld, bedside device. Impedance measurements were acquired from 104 patients undergoing oral cancer resection or biopsy. Three classification tasks were evaluated: (1) healthy vs. cancer, (2) multi-class lesion-type discrimination (cancer, high-grade dysplasia, non-malignant), and (3) multi-class discrimination between the three lesion pathologies and healthy tissue. For each task, signal frequencies were independently ranked and reduced using PCA, and different current injection/voltage measurement (IIVV) pattern geometries were tested. Classification performance was assessed through leave-one-patient-group-out cross-validation to ensure robustness on unseen patients. Input data dimensionality was reduced by up to 99% across all tasks while improving diagnostic accuracy over baseline models trained on the full dataset. A logistic regression model achieved the highest binary classification accuracy of 80% with an AUC of 0.90, while multi-class scenarios maintained AUCs above 0.82. All top-performing models utilized the significantly reduced IIVV set as input. The proposed pipeline advances EIS-based cancer detection by providing a robust, computationally efficient, and clinically practical framework for early diagnosis of oral cancer lesions, with a methodology readily generalizable to other EIS devices and applications.

eess.SP↗